feat(autoware_map_msgs): add MapProjectorInfo message (#102)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

Author: mitsudome-r

autoware_map_msgs/CMakeLists.txt

@@ -9,6 +9,7 @@ set(msg_files
   "msg/LaneletMapBin.msg"
   "msg/LaneletMapMetaData.msg"
   "msg/LaneletMapCellMetaData.msg"
+  "msg/MapProjectorInfo.msg"
   "msg/PointCloudMapCellWithID.msg"
   "msg/PointCloudMapCellMetaData.msg"
   "msg/PointCloudMapCellMetaDataWithID.msg"
@@ -21,6 +22,7 @@ set(msg_files
 set(msg_dependencies
   std_msgs
   geometry_msgs
+  geographic_msgs
   sensor_msgs)
 
 rosidl_generate_interfaces(${PROJECT_NAME}

autoware_map_msgs/README.md

@@ -12,6 +12,11 @@ The message contains a pointcloud data attached with an ID.
 
 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).
 
+## MapProjectorInfo.msg
+
+The message contains the information required to project global coordinates to local coordinates used by Autoware, which includes the name of the projection method and the parameters for the projection.
+For further information, please refer to the readme of [map_projection_loader](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_projection_loader/README.md) in Autoware Universe.
+
 ## 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.

autoware_map_msgs/msg/MapProjectorInfo.msg

@@ -0,0 +1,18 @@
+# Projector type
+string LOCAL = "Local"
+string LOCAL_CARTESIAN_UTM = "LocalCartesianUTM"
+string MGRS = "MGRS"
+string TRANSVERSE_MERCATOR = "TransverseMercator"
+string projector_type
+
+# Vertical datum
+string WGS84 = "WGS84"
+string EGM2008 = "EGM2008"
+string vertical_datum
+
+# Used for MGRS map
+string mgrs_grid
+
+# Used for some map projection types
+# altitude may not be in ellipsoid height
+geographic_msgs/GeoPoint map_origin

autoware_map_msgs/package.xml

@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>geographic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>