feat(map_loader) add support for local cartesian projection to lanelet map loader

Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>

Author: Sebastian Zęderowski

common/autoware_geography_utils/src/lanelet2_projector.cpp

@@ -17,6 +17,7 @@
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
 #include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
 
+#include <lanelet2_projection/LocalCartesian.h>
 #include <lanelet2_projection/UTM.h>
 
 namespace autoware::geography_utils
@@ -44,6 +45,13 @@ std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInf
     lanelet::Origin origin{position};
     lanelet::projection::TransverseMercatorProjector projector{origin};
     return std::make_unique<lanelet::projection::TransverseMercatorProjector>(projector);
+  } else if (projector_info.projector_type == MapProjectorInfo::LOCAL_CARTESIAN) {
+    lanelet::GPSPoint position{
+      projector_info.map_origin.latitude, projector_info.map_origin.longitude,
+      projector_info.map_origin.altitude};
+    lanelet::Origin origin{position};
+    lanelet::projection::LocalCartesianProjector projector{origin};
+    return std::make_unique<lanelet::projection::LocalCartesianProjector>(projector);
   }
   const std::string error_msg =
     "Invalid map projector type: " + projector_info.projector_type +

map/autoware_map_projection_loader/README.md

@@ -70,6 +70,20 @@ map_origin:
   altitude: 0.0 # [m]
 ```
 
+### Using LocalCartesian
+
+If you want to use local cartesian WGS84, please specify the map origin as well.
+
+```yaml
+# map_projector_info.yaml
+projector_type: LocalCartesian
+vertical_datum: WGS84
+map_origin:
+  latitude: 35.6762 # [deg]
+  longitude: 139.6503 # [deg]
+  altitude: 0.0 # [m]
+```
+
 ### Using TransverseMercator
 
 If you want to use Transverse Mercator projection, please specify the map origin as well.

map/autoware_map_projection_loader/src/map_projection_loader.cpp

@@ -37,6 +37,7 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & fi
 
   } else if (
     msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM ||
+    msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN ||
     msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) {
     msg.vertical_datum = data["vertical_datum"].as<std::string>();
     msg.map_origin.latitude = data["map_origin"]["latitude"].as<double>();
@@ -48,7 +49,8 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & fi
 
   } else {
     throw std::runtime_error(
-      "Invalid map projector type. Currently supported types: MGRS, LocalCartesianUTM, "
+      "Invalid map projector type. Currently supported types: MGRS, LocalCartesian, "
+      "LocalCartesianUTM, "
       "TransverseMercator, and local");
   }
   return msg;