feat(map_loader): add support for local cartesian projection (autowarefoundation#9238)

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

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

* feat(map_loader): udpate readme

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

* feat(map_loader): add support for local cartesian projection

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

* bump autoware_msgs to 1.4.0

Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>

---------

Signed-off-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
Co-authored-by: Mete Fatih Cırıt <mfc@autoware.org>
Co-authored-by: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>

Author: 4 people

build_depends_humble.repos

@@ -19,7 +19,7 @@ repositories:
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: 1.3.0
+    version: 1.4.0
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git

map/autoware_map_projection_loader/README.md

@@ -70,6 +70,22 @@ map_origin:
   altitude: 0.0 # [m]
 ```
 
+### Using LocalCartesian
+
+If you want to use local cartesian WGS84, please specify the map origin as well.
+
+Currently LocalCartesian can only be used in lanelet2_map_loader, packages like gnss_poser doesn't support it right now.
+
+```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

@@ -39,6 +39,7 @@ autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string &
 
   } else if (
     msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM ||
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN ||
     msg.projector_type == autoware_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>();
@@ -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;
 }