Update msgs

Signed-off-by: Barış Zeren <bzeren1819@gmail.com>

Author: StepTurtle

map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp

@@ -77,9 +77,9 @@ DynamicLaneletProviderNode::DynamicLaneletProviderNode(const rclcpp::NodeOptions
       for (const auto & data : msg->metadata_list) {
         Lanelet2FileMetaData metadata;
         metadata.id = data.tile_id;
-        metadata.origin_lat = data.metadata.origin_lat;
-        metadata.origin_lon = data.metadata.origin_lon;
-        metadata.mgrs_code = data.metadata.mgrs_code;
+        metadata.origin_lat = data.origin_lat;
+        metadata.origin_lon = data.origin_lon;
+        metadata.mgrs_code = data.mgrs_code;
         lanelet_map_meta_data_list_.push_back(metadata);
       }
     });
@@ -144,7 +144,7 @@ void DynamicLaneletProviderNode::updateMap(const geometry_msgs::msg::Point & pos
   }
 
   auto request = std::make_shared<autoware_map_msgs::srv::GetDifferentialLanelet2Map::Request>();
-  request->osm_file_ids.insert(request->osm_file_ids.end(), cache_ids.begin(), cache_ids.end());
+  request->vector_map_file_ids.insert(request->vector_map_file_ids.end(), cache_ids.begin(), cache_ids.end());
 
   while (!map_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) {
     RCLCPP_INFO(get_logger(), "Waiting for lanelet loader service");

map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp

@@ -66,7 +66,7 @@ bool Lanelet2DifferentialLoaderModule::differentialLanelet2Load(
 {
   // check osm ids
   std::vector<std::string> lanelet2_paths;
-  for (const auto & id : request->osm_file_ids) {
+  for (const auto & id : request->vector_map_file_ids) {
     auto it = std::find_if(
       lanelet2_file_metadata_dict_.begin(), lanelet2_file_metadata_dict_.end(),
       [&id](const auto & file) { return file.second.id == id; });
@@ -131,15 +131,13 @@ Lanelet2DifferentialLoaderModule::getLaneletMapMetaDataMsg() const
   autoware_map_msgs::msg::LaneletMapMetaData metadata;
   for (const auto & file : lanelet2_file_metadata_dict_) {
     autoware_map_msgs::msg::LaneletMapTileMetaData tile_msg;
+    tile_msg.tile_id = file.second.id;
     tile_msg.mgrs_code = file.second.mgrs_code;
     tile_msg.origin_lat = file.second.origin_lat;
     tile_msg.origin_lon = file.second.origin_lon;
 
-    autoware_map_msgs::msg::LaneletMapTileMetaDataWithID tile_msg_with_id;
-    tile_msg_with_id.metadata = tile_msg;
-    tile_msg_with_id.tile_id = file.second.id;
 
-    metadata.metadata_list.push_back(tile_msg_with_id);
+    metadata.metadata_list.push_back(tile_msg);
   }
   metadata.header.frame_id = "map";
   metadata.header.stamp = clock_->now();