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chore: sync awf-latest #1869

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Feb 26, 2025
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chore: sync awf-latest #1869

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2 changes: 1 addition & 1 deletion build_depends_humble.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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16 changes: 16 additions & 0 deletions map/autoware_map_projection_loader/README.md
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Expand Up @@ -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.
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6 changes: 4 additions & 2 deletions map/autoware_map_projection_loader/src/map_projection_loader.cpp
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Expand Up @@ -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>();
Expand All @@ -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;
}
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