From ab3a954490ef7cbb294362147e6036a9fa87dec5 Mon Sep 17 00:00:00 2001
From: melike <melike.153t@gmail.com>
Date: Tue, 17 Jan 2023 14:32:33 +0300
Subject: [PATCH 1/2] add_lanelet2_map_config to autoware_launch config

Signed-off-by: melike <melike.153t@gmail.com>
---
 autoware_launch/config/map/lanelet2_map_loader.param.yaml  | 7 +++++++
 .../launch/components/tier4_map_component.launch.xml       | 1 +
 2 files changed, 8 insertions(+)
 create mode 100755 autoware_launch/config/map/lanelet2_map_loader.param.yaml

diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
new file mode 100755
index 0000000000..b074db82a9
--- /dev/null
+++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    lanelet2_map_projector_type: UTM   # Options: MGRS, UTM
+    latitude: 40.81187906        # Latitude of map_origin, using in UTM
+    longitude: 29.35810110          # Longitude of map_origin, using in UTM
+
+    center_line_resolution: 5.0         # [m]
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
index cba9c3c0a2..cc015ebbed 100644
--- a/autoware_launch/launch/components/tier4_map_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -8,5 +8,6 @@
     <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+    <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
   </include>
 </launch>

From 2103f49f3372cc6e2f13d5b3c687ff98bddc6b25 Mon Sep 17 00:00:00 2001
From: meliketanrikulu <melike@leodrive.ai>
Date: Mon, 13 Feb 2023 17:50:45 +0300
Subject: [PATCH 2/2] set projector type as default

Signed-off-by: meliketanrikulu <melike@leodrive.ai>
---
 autoware_launch/config/map/lanelet2_map_loader.param.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
index b074db82a9..e3a4fdf81c 100755
--- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml
+++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    lanelet2_map_projector_type: UTM   # Options: MGRS, UTM
+    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM
     latitude: 40.81187906        # Latitude of map_origin, using in UTM
     longitude: 29.35810110          # Longitude of map_origin, using in UTM