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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
map_projection_loader package as a ROS 2 node
Additional Links
No additional links.
Maintainers
- Koji Minoda
- Yamato Ando
- Masahiro Sakamoto
Authors
No additional authors.
map_projection_loader
Feature
map_projection_loader
is responsible for publishing map_projector_info
that defines in which kind of coordinate Autoware is operating.
This is necessary information especially when you want to convert from global (geoid) to local coordinate or the other way around.
- If
map_projector_info_path
DOES exist, this node loads it and publishes the map projection information accordingly. - If
map_projector_info_path
does NOT exist, the node assumes that you are using theMGRS
projection type, and loads the lanelet2 map instead to extract the MGRS grid.- DEPRECATED WARNING: This interface that uses the lanelet2 map is not recommended. Please prepare the YAML file instead.
Map projector info file specification
You need to provide a YAML file, namely map_projector_info.yaml
under the map_path
directory. For pointcloud_map_metadata.yaml
, please refer to the Readme of map_loader
.
sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd
├── map_projector_info.yaml
└── pointcloud_map_metadata.yaml
Using local coordinate
# map_projector_info.yaml
projector_type: local
Using MGRS
If you want to use MGRS, please specify the MGRS grid as well.
# map_projector_info.yaml
projector_type: MGRS
vertical_datum: WGS84
mgrs_grid: 54SUE
Using LocalCartesianUTM
If you want to use local cartesian UTM, please specify the map origin as well.
# map_projector_info.yaml
projector_type: LocalCartesianUTM
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_projector_info.yaml
projector_type: TransverseMercator
vertical_datum: WGS84
map_origin:
latitude: 35.6762 # [deg]
longitude: 139.6503 # [deg]
altitude: 0.0 # [m]
Published Topics
- ~/map_projector_info (tier4_map_msgs/MapProjectorInfo) : Topic for defining map projector information
Parameters
Name | Type | Description |
---|---|---|
map_projector_info_path | std::string | A path to map_projector_info.yaml (used by default) |
lanelet2_map_path | std::string | A path to lanelet2 map (used only when map_projector_info_path does not exist) |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Name | Deps |
---|---|
tier4_map_launch |
Launch files
- launch/map_projection_loader.launch.xml
-
- map_projector_info_path
- lanelet2_map_path
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged map_projection_loader at Robotics Stack Exchange
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