feat: add autoware_map_projection_loader package

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

autoware_map_projection_loader/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_map_projection_loader)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/map_projection_loader.cpp
+  src/load_info_from_lanelet2_map.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::map_projection_loader::MapProjectionLoader"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
+
+target_link_libraries(${PROJECT_NAME} yaml-cpp)
+
+function(add_testcase filepath)
+  get_filename_component(filename ${filepath} NAME)
+  string(REGEX REPLACE ".cpp" "" test_name ${filename})
+  ament_add_gmock(${test_name} ${filepath})
+  target_link_libraries("${test_name}" ${PROJECT_NAME})
+  ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
+endfunction()
+
+if(BUILD_TESTING)
+  # Test python scripts
+  add_launch_test(
+    test/test_node_load_mgrs_from_yaml.test.py
+    TIMEOUT "30"
+  )
+  add_launch_test(
+    test/test_node_load_local_from_yaml.test.py
+    TIMEOUT "30"
+  )
+  add_launch_test(
+    test/test_node_load_local_cartesian_utm_from_yaml.test.py
+    TIMEOUT "30"
+  )
+  add_launch_test(
+    test/test_node_load_transverse_mercator_from_yaml.test.py
+    TIMEOUT "30"
+  )
+  install(DIRECTORY
+    test/data/
+    DESTINATION share/${PROJECT_NAME}/test/data/
+  )
+
+  # Test c++ scripts
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  add_testcase(test/test_load_info_from_lanelet2_map.cpp)
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)

autoware_map_projection_loader/README.md

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+# autoware_map_projection_loader
+
+## Feature
+
+`autoware_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`.
+
+```bash
+sample-map-rosbag
+├── lanelet2_map.osm
+├── pointcloud_map.pcd
+├── map_projector_info.yaml
+└── pointcloud_map_metadata.yaml
+```
+
+There are three types of transformations from latitude and longitude to XYZ coordinate system as shown in the figure below. Please refer to the following details for the necessary parameters for each projector type.
+
+![node_diagram](docs/map_projector_type.svg)
+
+### Using local coordinate
+
+```yaml
+# map_projector_info.yaml
+projector_type: local
+```
+
+#### Limitation
+
+The functionality that requires latitude and longitude will become unavailable.
+
+The currently identified unavailable functionalities are:
+
+- GNSS localization
+- Sending the self-position in latitude and longitude using ADAPI
+
+### Using MGRS
+
+If you want to use MGRS, please specify the MGRS grid as well.
+
+```yaml
+# map_projector_info.yaml
+projector_type: MGRS
+vertical_datum: WGS84
+mgrs_grid: 54SUE
+```
+
+#### Limitation
+
+It cannot be used with maps that span across two or more MGRS grids. Please use it only when it falls within the scope of a single MGRS grid.
+
+### Using LocalCartesianUTM
+
+If you want to use local cartesian UTM, please specify the map origin as well.
+
+```yaml
+# 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.
+
+```yaml
+# 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) : This topic shows the definition of map projector information
+
+## Parameters
+
+Note that these parameters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`.
+
+{{ json_to_markdown("map/autoware_map_projection_loader/schema/map_projection_loader.schema.json") }}

autoware_map_projection_loader/config/map_projection_loader.param.yaml

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+/**:
+  ros__parameters:
+    map_projector_info_path: $(var map_projector_info_path)
+    lanelet2_map_path: $(var lanelet2_map_path)