feat(map_projection_loader): add scale_factor and remove altitude

[YamatoAndo]

Description

add scale_factor and remove altitude.

Related links

https://github.com/orgs/autowarefoundation/discussions/5765

Parent Issue:

• Link

How was this PR tested?

Check scale factor

1. Build with feat(autoware_msg_msgs): add scale factor remove altitude autoware_msgs#121 and feat(projection): add_scale_factor autoware_lanelet2_extension#54.
2. Run Autoware

• Use sample rosbag map(MGRS map)
  Confirmed that it works correctly as usual.
• Use sample rosbag map(TransverseMercator map)
  I have prepared a sample map converted to the Transverse Mercator coordinate system with different scale factor.
  I have prepared the PCD map and lanelet2 map in each folder so that their scale factors match. If you open map_projector_info.yaml, change the scale_factor, and then run Autoware, only the lanelet2 map will be converted according to the modified scale factor.
  However, position estimation will fail with any value other than the original scale factor (0.9996).
  Please verify that the map changes according to the scale factor.

examples

---

pcd map: original scale factor (0.9996)
lanelet2 map: original scale factor (0.9996)

---

pcd map: original scale factor (0.9996)
lanelet2 map: scale factor 1.5

---

Check altitude

Since this change has no impact, PR test is not required.

Notes for reviewers

Please merge this PR after autowarefoundation/autoware_msgs#121 and autowarefoundation/autoware_lanelet2_extension#54.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[youtalk]

LGTM

[RyuYamamoto]

I have confirmed that the logging_simulator work well.

LGTM

[youtalk]

The dependencies are ready.

[YamatoAndo]

There was an error in the test of autoware_geograhpy_utils.

Fixed in b20c158

[youtalk]

I've manually removed the GitHub Actions' cache and hope it would be resolved.

[youtalk]

I investigated various aspects but couldn’t find the issue. I added a one-line comment to ignore the clang-tidy error and a TODO comment. 1fd7a35
Let’s resolve it in a separate PR.

[youtalk]

According to https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/msg/MapProjectorInfo.msg#L26, the scale_factor is float not double.

[youtalk]

I gave up for today. I don’t understand why NOLINT is being ignored. 1fd7a35 a0592e9

clang-apply-replacements version 14.0.0
clang-tidy-14 --use-color -export-fixes /tmp/tmps3jvw3af/tmpo3ytlsiw.yaml -p=build/ /__w/autoware_core/autoware_core/common/autoware_geography_utils/src/lanelet2_projector.cpp
�[1m/__w/autoware_core/autoware_core/common/autoware_geography_utils/src/lanelet2_projector.cpp:53:60: �[0m�[0;1;31merror: �[0m�[1mno matching constructor for initialization of 'const lanelet::projection::TransverseMercatorProjector' [clang-diagnostic-error]�[0m
    const lanelet::projection::TransverseMercatorProjector projector{
�[0;1;32m                                                           ^        ~

Kindly ping @veqcc @mitsudome-r

[xmfcx]

I've found the issue.

https://github.com/autowarefoundation/autoware_core/actions/runs/14358958246/job/40255411996?pr=340#step:9:551

Here the clang-tidy job is installing dependency ros-humble-autoware-lanelet2-extension from the apt repository. And it uses that one instead of the one in the local folder.

Why is it doing that?

https://github.com/autowarefoundation/autoware-github-actions/blob/d3b80b41bcc9d68bf93d117407995bcc1b47c5c9/clang-tidy/action.yaml#L67-L84

Here it tries to pull the build-depend.repos but we removed them, so it cannot find them.

And underlay-workspace is not sourced.

How to fix?

Add underlay-workspace arg to the clang-tidy/action.yaml and source it before performing the rosdep install. And before running the critical clang-tidy command.

[youtalk]

@xmfcx Great job!!!!

[youtalk]

After merging autowarefoundation/autoware-github-actions#341 and reverting d520a70, we will finally merge this.

[veqcc]

@youtalk
As for clang-tidy, clang-diagnostic-error is NOT a warning but a parse error, which means we cannot suppress it with NOLINT notations.

Possible general (not specific to this case) solutions are

• fix the codebase (recommended)
• ignore the entire file or package

[youtalk]

Merged finally. Thank you for your all support!

[YamatoAndo]

Thank you all!!