feat(map_loader): use cylindrical area for map loader

[kminoda]

Description

Background

pose_initializer (map_height_fitter) failed when the z of pointcloud map was over 50m (or under -50m). This was due to the spherical area query in partial_map_loading. Instead, we should use cylindrical area query with infinite height.

Changes

Change AreaInfo.msg, which is used as an query to load a specific pointcloud maps in that area, as follows

Before:

# Area info used as a query in map loading service
# Note: this only supports spherical area message for now

geometry_msgs/Point center
float32 radius

After

# Area info used as a query in map loading service
# Note: this only supports cylindrical area message for now

float32 center_x
float32 center_y
float32 radius

I changed some nodes that uses the interface accordingly.

Related links

• feat(autoware_map_msgs): support cylindrical AreaInfo autoware_msgs#64

Tests performed

Confirmed that logging_simulator works with a sample map and rosbag

Notes for reviewers

No performance changes (except map_height_fitter)

Interface changes

AreaInfo.msg in autoware_map_msgs changes.

Effects on system behavior

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[yukkysaito]

LGTM

[badai-nguyen]

LGTM regarding compare_map_segmentation

[KYabuuchi]

I verified this by running logging_simulator with split sample maps. And it worked correctly. 👍

[RyuYamamoto]

LGTM

[kminoda]

@isamu-takagi @YamatoAndo Could you review this PR as well? (Please dismiss the failing CI, as this PR is also related to autoware_msgs modicification)

[YamatoAndo]

LGTM regarding map_height_fitter