feat(map_projection_loader): add scale_factor and remove altitude

.github/workflows/build-and-test-differential.yaml

@@ -76,12 +76,13 @@ jobs:
 
       - name: Run clang-tidy
         if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@feat/clang-tidy-underlay-workspace
         with:
           rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           target-files: ${{ steps.get-changed-files.outputs.changed-files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
+          underlay-workspace: /opt/autoware
 
       - name: Show disk space after the tasks
         run: df -h

common/autoware_geography_utils/src/lanelet2_projector.cpp

@@ -48,7 +48,8 @@ std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInf
       projector_info.map_origin.latitude, projector_info.map_origin.longitude,
       projector_info.map_origin.altitude};
     const lanelet::Origin origin{position};
-    const lanelet::projection::TransverseMercatorProjector projector{origin};
+    const lanelet::projection::TransverseMercatorProjector projector{
+      origin, projector_info.scale_factor};
     return std::make_unique<lanelet::projection::TransverseMercatorProjector>(projector);
   }
 

common/autoware_geography_utils/test/test_lanelet2_projector.cpp

@@ -77,6 +77,7 @@ TEST(GeographyUtilsLanelet2Projector, GetTransverseMercatorProjector)
   projector_info.map_origin.latitude = 35.62426;
   projector_info.map_origin.longitude = 139.74252;
   projector_info.map_origin.altitude = 0.0;
+  projector_info.scale_factor = 0.9996;
 
   std::unique_ptr<lanelet::Projector> projector =
     autoware::geography_utils::get_lanelet2_projector(projector_info);

map/autoware_map_projection_loader/README.md

@@ -32,6 +32,8 @@ There are three types of transformations from latitude and longitude to XYZ coor
 projector_type: Local
 ```
 
+Note that even if you input scale_factor, it will be overwritten to 1.0.
+
 #### Limitation
 
 The functionality that requires latitude and longitude will become unavailable.
@@ -52,6 +54,8 @@ vertical_datum: WGS84
 mgrs_grid: 54SUE
 ```
 
+Note that even if you input scale_factor, it will be overwritten to 0.9996.
+
 #### 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.
@@ -67,9 +71,10 @@ vertical_datum: WGS84
 map_origin:
   latitude: 35.6762 # [deg]
   longitude: 139.6503 # [deg]
-  altitude: 0.0 # [m]
 ```
 
+Note that even if you input scale_factor, it will be overwritten to 0.9996.
+
 ### Using LocalCartesian
 
 If you want to use local cartesian WGS84, please specify the map origin as well.
@@ -83,12 +88,14 @@ vertical_datum: WGS84
 map_origin:
   latitude: 35.6762 # [deg]
   longitude: 139.6503 # [deg]
-  altitude: 0.0 # [m]
 ```
 
+Note that even if you input scale_factor, it will be overwritten to 1.0.
+
 ### Using TransverseMercator
 
 If you want to use Transverse Mercator projection, please specify the map origin as well.
+And specify the scale_factor of the map. If you didn't specify the scale_factor, it will be set 0.9996 as default value.
 
 ```yaml
 # map_projector_info.yaml
@@ -97,7 +104,7 @@ vertical_datum: WGS84
 map_origin:
   latitude: 35.6762 # [deg]
   longitude: 139.6503 # [deg]
-  altitude: 0.0 # [m]
+scale_factor: 0.9996
 ```
 
 ## Published Topics

map/autoware_map_projection_loader/src/map_projection_loader.cpp

@@ -44,7 +44,7 @@
     msg.vertical_datum = data["vertical_datum"].as<std::string>();
     msg.map_origin.latitude = data["map_origin"]["latitude"].as<double>();
     msg.map_origin.longitude = data["map_origin"]["longitude"].as<double>();
-    msg.map_origin.altitude = data["map_origin"]["altitude"].as<double>();
+    msg.map_origin.altitude = 0.0;
 
   } else if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL) {
     ;  // do nothing
@@ -64,6 +64,30 @@
       "LocalCartesianUTM, "
       "TransverseMercator, and local");
   }
+
+  // set scale factor
+  static constexpr float scale_factor_for_utm = 0.9996;
+  static constexpr float scale_factor_for_local = 1.0;
+  if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) {
+    if (data["scale_factor"]) {
+      msg.scale_factor = data["scale_factor"].as<float>();
+    } else {
+      msg.scale_factor = scale_factor_for_utm;
+    }
+  } else if (
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::MGRS ||
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM) {
+    msg.scale_factor = scale_factor_for_utm;
+  } else if (
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL ||
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN) {
+    msg.scale_factor = scale_factor_for_local;
+  }
+
+  if (msg.scale_factor <= 0.0) {
+    throw std::runtime_error(
+      "Invalid scale factor. The scale factor must be a value greater than 0.");
+  }
   return msg;
 }
 
@@ -104,10 +128,8 @@
     load_map_projector_info(yaml_filename, lanelet2_map_filename);
 
   // Publish the message
-  MapProjectorInfo map_projector_info_specs;
   publisher_ = this->create_publisher<MapProjectorInfo::Message>(
-    map_projector_info_specs.name,
-    autoware::component_interface_specs::get_qos(map_projector_info_specs));
+    MapProjectorInfo::name, autoware::component_interface_specs::get_qos(MapProjectorInfo{}));
   publisher_->publish(msg);
 }
 }  // namespace autoware::map_projection_loader