Fix

Signed-off-by: Barış Zeren <bzeren1819@gmail.com>

Author: StepTurtle

map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp

@@ -97,6 +97,8 @@ bool Lanelet2DifferentialLoaderModule::differentialLanelet2Load(
       }
     }
 
+    lanelet::utils::overwriteLaneletsCenterline(map, 5.0, false);
+
     const auto map_bin_msg =
       Lanelet2MapLoaderNode::create_map_bin_msg(map, lanelet2_paths[0], rclcpp::Clock().now());
 
@@ -113,24 +115,7 @@ bool Lanelet2DifferentialLoaderModule::differentialLanelet2Load(
       }
     }
 
-    // overwrite local_x, local_y
-    for (lanelet::Point3d point : map->pointLayer) {
-      if (point.hasAttribute("local_x")) {
-        point.x() = point.attribute("local_x").asDouble().value();
-      }
-      if (point.hasAttribute("local_y")) {
-        point.y() = point.attribute("local_y").asDouble().value();
-      }
-    }
-
-    // realign lanelet borders using updated points
-    for (lanelet::Lanelet lanelet : map->laneletLayer) {
-      auto left = lanelet.leftBound();
-      auto right = lanelet.rightBound();
-      std::tie(left, right) = lanelet::geometry::align(left, right);
-      lanelet.setLeftBound(left);
-      lanelet.setRightBound(right);
-    }
+    lanelet::utils::overwriteLaneletsCenterline(map, 5.0, false);
 
     const auto map_bin_msg =
       Lanelet2MapLoaderNode::create_map_bin_msg(map, lanelet2_paths[0], rclcpp::Clock().now());