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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 the MGRS 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)