fix(gnss_poser): no conversion when projection type is local

[isamu-takagi]

Description

Fix an issue where the node dies when the projection type is local.

Related links

https://github.com/orgs/autowarefoundation/discussions/4157

Tests performed

1. Add map_projector_info.yaml to the your map directory.

   projector_type: local
   

2. Run the following command:

   • Terminal 1: ros2 launch gnss_poser gnss_poser.launch.xml
   • Terminal 2: ros2 topic pub /fix sensor_msgs/msg/NavSatFix
   • Terminal 3: ros2 topic pub /map/map_projector_info tier4_map_msgs/msg/MapProjectorInfo "{projector_type: local}"

3. Check that the node is not died on terminal 1

   • main branch

     [gnss_poser-1] [WARN] [1707406335.757544980] [gnss_poser]: map_projector_info has not been received yet. Check if the map_projection_loader is successfully launched.
     [gnss_poser-1] [WARN] [1707406336.757630107] [gnss_poser]: map_projector_info has not been received yet. Check if the map_projection_loader is successfully launched.
     [gnss_poser-1] terminate called after throwing an instance of 'std::invalid_argument'
     [gnss_poser-1]   what():  Invalid map projector type: local. Currently supported types: MGRS, LocalCartesianUTM, and TransverseMercator
     

   • PR branch

     [gnss_poser-1] [WARN] [1707406223.428762538] [gnss_poser]: map_projector_info has not been received yet. Check if the map_projection_loader is successfully launched.
     [gnss_poser-1] [WARN] [1707406224.429247652] [gnss_poser]: map_projector_info has not been received yet. Check if the map_projection_loader is successfully launched.
     [gnss_poser-1] [ERROR] [1707406226.429217000] [gnss_poser]: map_projector_info is local projector type. Unable to convert GNSS pose.
     [gnss_poser-1] [ERROR] [1707406231.429275335] [gnss_poser]: map_projector_info is local projector type. Unable to convert GNSS pose.
     

Interface changes

None

Effects on system behavior

None

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[kminoda]

Thank you for the fix. LGTM

[codecov]

Codecov Report

Attention: 3 lines in your changes are missing coverage. Please review.

Comparison is base (4409d20) 14.87% compared to head (f1fb31c) 14.87%.
Report is 5 commits behind head on main.

Files	Patch %	Lines
sensing/gnss_poser/src/gnss_poser_core.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6356      +/-   ##
==========================================
- Coverage   14.87%   14.87%   -0.01%     
==========================================
  Files        1841     1841              
  Lines      126588   126591       +3     
  Branches    37962    37962              
==========================================
  Hits        18828    18828              
- Misses      86539    86542       +3     
  Partials    21221    21221              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.87% <ø> (ø)		Carriedforward from 4409d20

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