feat(map_projection_loader): add map_projection_loader #3986

kminoda · 2023-06-15T10:18:49Z

Description

This PR adds map_projection_loader that loads the map projection info and publishes it as /map/map_projector_type. The topic will be subscribed by /map/lanelet2_map_loader.

Importantly, the interface for map files will change with this PR. Autoware will require map_projector_info.yaml as an additional file that stores the projection info. To maintain backward compatibility, we also support maps without the yaml file, but note that this will evoke a deprecated warning. For details, please refer to the readme of map_projection_loader which is added in this PR.

Tests performed

Unit test & Integration test

I have added some unit test and integration test under map/map_projection_loader/test.

Testing with logging_simulator

I also tested the following

[backward-compatibility test] Confirmed that localization works with sample-map-rosbag provided in Autoware tutorial.
[MGRS test from YAML] Prepare the following map_projector_info.yaml in sample-map-rosbag directory, launch logging_simulator, and confirmed that it works.

map_projector_info.yaml for sample-map-rosbag:

type: MGRS
mgrs_grid: 54SUE

Testing with planning_simulator

I also tested planning_simulator with sample-map-planning provided in Autoware tutorial.

Notes for reviewers

Transverse Mercator projection is not yet supported only with this PR, but we also need to add #3984. I split PRs into two to maintain each PR as small as possible, but let me know if it's better to merge these at once. (Currently, I am considering merging this PR first and then open the PR)

Interface changes

Map files requirement will change, although backward compatibility is also supported

Effects on system behavior

None except the above interface change.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: kminoda <koji.minoda@tier4.jp>

map/map_projection_loader/src/map_projection_loader.cpp

Signed-off-by: kminoda <koji.minoda@tier4.jp>

YamatoAndo · 2023-08-07T05:21:16Z

@kminoda please fix build error

__w/autoware.universe/autoware.universe/map/map_projection_loader/src/map_projection_loader.cpp:35:5: error: continue statement not within a loop
35 | continue; // do nothing

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-08-07T06:14:12Z

@YamatoAndo Thank you 🙏
Fixed 0702af6

launch/tier4_map_launch/launch/map.launch.py

map/map_projection_loader/package.xml

YamatoAndo · 2023-08-07T09:23:48Z

I have confirmed that Autoware works well with the logging_simulator/planning_simulator.
I have also confirmed that the /map/map_projector_type topic is being output as intended.

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-08-09T01:06:20Z

@YamatoAndo @mitsudome-r Hi, I've reflected all the comments! Would you mind checking the PR and approve if it looks OK?

…ader

Signed-off-by: kminoda <koji.minoda@tier4.jp>

…ation#3986) * feat(map_projection_loader): add map_projection_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * Update default algorithm Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix test Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix launch file and fix map_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update lanelet2 Signed-off-by: kminoda <koji.minoda@tier4.jp> * fill yaml file path Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * minor fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix test Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add include guard Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update test Signed-off-by: kminoda <koji.minoda@tier4.jp> * update map_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update docs * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * add dependency Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * remove unnecessary parameter Signed-off-by: kminoda <koji.minoda@tier4.jp> * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * update test Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add url Signed-off-by: kminoda <koji.minoda@tier4.jp> * enable python tests Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * small fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix grammar Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove transverse mercator Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add rule in map Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix readme of map loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove transverse mercator for now Signed-off-by: kminoda <koji.minoda@tier4.jp> * add utm Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove altitude from current projection loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix build error Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: remove package.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix clang-tidy Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

feat(map_projection_loader): add map_projection_loader

d88ddd5

Signed-off-by: kminoda <koji.minoda@tier4.jp>

github-actions bot added the component:map Map creation, storage, and loading. (auto-assigned) label Jun 15, 2023

pre-commit-ci bot and others added 5 commits June 15, 2023 10:20

style(pre-commit): autofix

b8b98aa

Update default algorithm

c3bbd3d

Signed-off-by: kminoda <koji.minoda@tier4.jp>

fix test

1fa4347

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

37f9619

add readme

a6ac915

Signed-off-by: kminoda <koji.minoda@tier4.jp>

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jun 16, 2023

style(pre-commit): autofix

7c1b2d1

kminoda mentioned this pull request Jun 20, 2023

feat(gnss_poser): Subscribe map_projector_info #3984

Closed

7 tasks

kminoda and others added 2 commits July 20, 2023 14:36

Merge branch 'main' into feat/add_map_projection_loader

7224aaa

fix launch file and fix map_loader

e1f3738

Signed-off-by: kminoda <koji.minoda@tier4.jp>

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jul 20, 2023

pre-commit-ci bot and others added 6 commits July 20, 2023 07:07

style(pre-commit): autofix

1c4fa44

update lanelet2

3257cf5

Signed-off-by: kminoda <koji.minoda@tier4.jp>

fill yaml file path

7973c97

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

b7175a0

update readme

1d3e8c2

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

046dc11

kminoda commented Jul 21, 2023

View reviewed changes

map/map_projection_loader/src/map_projection_loader.cpp Outdated Show resolved Hide resolved

kminoda and others added 3 commits July 24, 2023 11:16

minor fix

9a89f2f

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

4fb2ceb

fix test

331ced7

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 24, 2023

pre-commit-ci bot and others added 3 commits July 24, 2023 02:25

style(pre-commit): autofix

a439d6c

add include guard

02c3c1d

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

4aea876

kminoda and others added 6 commits August 4, 2023 15:44

fix readme of map loader

4b8ddbb

Signed-off-by: kminoda <koji.minoda@tier4.jp>

remove transverse mercator for now

7d56305

Signed-off-by: kminoda <koji.minoda@tier4.jp>

add utm

b358ab9

Signed-off-by: kminoda <koji.minoda@tier4.jp>

remove altitude from current projection loader

ea735e2

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

08b6ded

fix pre-commit

081cc0b

Signed-off-by: kminoda <koji.minoda@tier4.jp>

fix build error

0702af6

Signed-off-by: kminoda <koji.minoda@tier4.jp>

YamatoAndo reviewed Aug 7, 2023

View reviewed changes

launch/tier4_map_launch/launch/map.launch.py Show resolved Hide resolved

YamatoAndo reviewed Aug 7, 2023

View reviewed changes

map/map_projection_loader/package.xml Show resolved Hide resolved

fix: remove package.xml

378d9dc

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda and others added 3 commits August 9, 2023 14:19

Merge remote-tracking branch 'origin' into feat/add_map_projection_lo…

f008839

…ader

fix clang-tidy

0509fe1

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

05cf612

YamatoAndo approved these changes Aug 9, 2023

View reviewed changes

kminoda mentioned this pull request Aug 10, 2023

feat!: change map_projector_type topic name #4582

Closed

7 tasks

mitsudome-r approved these changes Aug 10, 2023

View reviewed changes

mitsudome-r enabled auto-merge (squash) August 10, 2023 01:31

Merge branch 'main' into feat/add_map_projection_loader

7925f11

mitsudome-r disabled auto-merge August 10, 2023 01:34

kminoda enabled auto-merge (squash) August 10, 2023 01:50

kminoda disabled auto-merge August 10, 2023 01:50

kminoda merged commit 8ff2128 into autowarefoundation:main Aug 10, 2023

tier4-autoware-public-bot bot mentioned this pull request Aug 14, 2023

chore: sync upstream tier4/autoware.universe#724

Merged

SakodaShintaro mentioned this pull request Aug 16, 2023

fix(lanelet2_map_loader): fixed parameter declaration timing #4639

Merged

4 tasks

kminoda deleted the feat/add_map_projection_loader branch August 23, 2023 00:06

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(map_projection_loader): add map_projection_loader #3986

feat(map_projection_loader): add map_projection_loader #3986

kminoda commented Jun 15, 2023 •

edited

Loading

YamatoAndo commented Aug 7, 2023

kminoda commented Aug 7, 2023

YamatoAndo commented Aug 7, 2023

kminoda commented Aug 9, 2023

feat(map_projection_loader): add map_projection_loader #3986

feat(map_projection_loader): add map_projection_loader #3986

Conversation

kminoda commented Jun 15, 2023 • edited Loading

Description

Related links

Tests performed

Unit test & Integration test

Testing with logging_simulator

Testing with planning_simulator

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

YamatoAndo commented Aug 7, 2023

kminoda commented Aug 7, 2023

YamatoAndo commented Aug 7, 2023

kminoda commented Aug 9, 2023

kminoda commented Jun 15, 2023 •

edited

Loading