feat(autoware_map_msgs): add MapProjectorInfo message

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 +12,12 @@ 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 coodraintes 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.
@@ -37,3 +43,4 @@ Let $X_0$ be a set of PCD map ID that the client node has, $X_1$ be a set of PCD
 ## 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/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

@@ -15,6 +15,7 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>geometry_msgs</depend>
+  <depend>geographic_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>