feat(map_loader): add support for local cartesian projection

[sebekx]

lanelet map loader

Description

Add LocalCaretsian (WGS84) projection support to map_loader.

Requires:

• feat(tier4_map_msgs): add LocalCartesian const tier4/tier4_autoware_msgs#152
• feat(MapProjectorInfo.msg): add LocalCartesian const autoware_msgs#118

Related links

• feat(autoware_geography_utils): add support for local cartesian projection autoware_core#181
• feat(MapProjectorInfo.msg): add LocalCartesian const autoware_msgs#118

How was this PR tested?

Used map_loaded to load lanelet with localCartesian(WGS84) projection.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[TaikiYamada4]

@sebekx
Could you please share your thoughts why you recommend this change?
Adding a new mapping projection doesn't only influence the map_loader but also make effects to other modules such as gnss_poser, MapProjectorInfo.msg, and maybe more.

Since we cannot discuss or estimate the impact to the entire Autoware enough here, I would recommend you to create a discussion about adding LocalCartesian support to Autoware.

[sebekx]

@sebekx Could you please share your thoughts why you recommend this change? Adding a new mapping projection doesn't only influence the map_loader but also make effects to other modules such as gnss_poser, MapProjectorInfo.msg, and maybe more.

Since we cannot discuss or estimate the impact to the entire Autoware enough here, I would recommend you to create a discussion about adding LocalCartesian support to Autoware.

We are using LocalCartesian in our stack with different implementation of localization components. Adding it in here shouldn't affect the system unless someone use it.

[TaikiYamada4]

@sebekx

We are using LocalCartesian in our stack with different implementation of localization components. Adding it in here shouldn't affect the system unless someone use it.

If so, then please add the information in README.md that LocalCartesian can only be used in lanelet2_map_loader and packages like gnss_poser doesn't support it.

Then I suppose the changes here is OK, but it's only in my sense.
I'm not sure what the reviewers of the MapProjectorInfo.msg PR might say.

[sebekx]

If so, then please add the information in README.md that LocalCartesian can only be used in lanelet2_map_loader and packages like gnss_poser doesn't support it.

Ok, thanks, I have updated readme.

[TaikiYamada4]

@sebekx

Since map_loader will move to Autoware.Core, you shall resolve the conflicts here and the conversations happening in the PR of tier4_map_msgs soon if this is urgent.
Unless, there might be some other tasks coming up after map_loader is moved to Autoware.Core

[xmfcx]

• @sebekx can you rebase this PR after updating feat(tier4_map_msgs): add LocalCartesian const tier4/tier4_autoware_msgs#152 ?

[sebekx]

• @sebekx can you rebase this PR after updating feat(tier4_map_msgs): add LocalCartesian const tier4/tier4_autoware_msgs#152 ?

rebased and created pr:

• feat(autoware_geography_utils): add support for local cartesian projection autoware_core#181
• feat(MapProjectorInfo.msg): add LocalCartesian const autoware_msgs#118

[TaikiYamada4]

I'm sorry for being late.
Could you fix this part?

[xmfcx]

@TaikiYamada4 could you review again?

[codecov]

Codecov Report

Attention: Patch coverage is 50.00000% with 1 line in your changes missing coverage. Please review.

Project coverage is 26.79%. Comparing base (a11a3ee) to head (bb1b679).
Report is 6 commits behind head on main.

Files with missing lines	Patch %	Lines
...ap_projection_loader/src/map_projection_loader.cpp	50.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #9238   +/-   ##
=======================================
  Coverage   26.79%   26.79%           
=======================================
  Files        1395     1397    +2     
  Lines      107936   107941    +5     
  Branches    41545    41549    +4     
=======================================
+ Hits        28918    28926    +8     
+ Misses      76141    76138    -3     
  Partials     2877     2877           

Flag	Coverage Δ		*Carryforward flag
differential	4.50% <50.00%> (?)
total	26.79% <ø> (+<0.01%)	⬆️	Carriedforward from 3a73341

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[TaikiYamada4]

LGTM