feat(autoware_map_msgs): add selected map loading

autoware_map_msgs/CMakeLists.txt

@@ -8,8 +8,12 @@ set(msg_files
   "msg/AreaInfo.msg"
   "msg/LaneletMapBin.msg"
   "msg/PointCloudMapCellWithID.msg"
+  "msg/PointCloudMapCellMetaData.msg"
+  "msg/PointCloudMapCellMetaDataWithID.msg"
+  "msg/PointCloudMapMetaData.msg"
   "srv/GetPartialPointCloudMap.srv"
-  "srv/GetDifferentialPointCloudMap.srv")
+  "srv/GetDifferentialPointCloudMap.srv"
+  "srv/GetSelectedPointCloudMap.srv")
 
 set(msg_dependencies
   std_msgs

autoware_map_msgs/README.md

@@ -8,6 +8,10 @@ The message represents an area information. This is intended to be used as a que
 
 The message contains a pointcloud data attached with an ID.
 
+## PointCloudMapCellMetaDataWithID.msg
+
+The message contains a pointcloud meta data attached with an ID. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section).
+
 ## GetPartialPointCloudMap.srv
 
 Given an area query (`AreaInfo`), the response is expected to contain the PCD maps (each of which attached with unique ID) whose area overlaps with the query.
@@ -29,3 +33,7 @@ Let $X_0$ be a set of PCD map ID that the client node has, $X_1$ be a set of PCD
 ( $x \in A\backslash B \iff x \in A \wedge x \notin B$ )
 
 <img src="./media/differential_area_loading.gif" alt="drawing" width="400"/>
+
+## GetSelectedPointCloudMap.srv
+
+Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaDataWithID.msg` metadata to retrieve information about IDs.

autoware_map_msgs/msg/PointCloudMapCellMetaData.msg

@@ -0,0 +1,6 @@
+# Metadata of pointcloud map cell
+
+float32 min_x
+float32 min_y
+float32 max_x
+float32 max_y

autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg

@@ -0,0 +1,4 @@
+# Pointcloud metadata with ID
+
+string cell_id
+PointCloudMapCellMetaData metadata

autoware_map_msgs/msg/PointCloudMapCellWithID.msg

@@ -1,7 +1,5 @@
 # Pointcloud data with ID
+
 string cell_id
 sensor_msgs/PointCloud2 pointcloud
-float32 min_x
-float32 min_y
-float32 max_x
-float32 max_y
+PointCloudMapCellMetaData metadata

autoware_map_msgs/msg/PointCloudMapMetaData.msg

@@ -0,0 +1,4 @@
+# Header
+std_msgs/Header header
+
+PointCloudMapCellMetaDataWithID[] metadata_list

autoware_map_msgs/srv/GetSelectedPointCloudMap.srv

@@ -0,0 +1,9 @@
+# ID query for map loading
+string[] cell_ids
+
+---
+# Header
+std_msgs/Header header
+
+# Newly loaded PCD maps with ID
+PointCloudMapCellWithID[] new_pointcloud_with_ids