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

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

@@ -38,8 +38,9 @@ autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string &
     msg.mgrs_grid = data["mgrs_grid"].as<std::string>();
 
   } else if (
-    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM ||
-    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) {
+    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>();
     msg.map_origin.longitude = data["map_origin"]["longitude"].as<double>();
@@ -59,8 +60,9 @@ autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string &
     msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL;
   } else {
     throw std::runtime_error(
-      "Invalid map projector type. Currently supported types: MGRS, LocalCartesianUTM, "
-      "TransverseMercator, and Local");
+      "Invalid map projector type. Currently supported types: MGRS, LocalCartesian, "
+      "LocalCartesianUTM, "
+      "TransverseMercator, and local");
   }
   return msg;
 }