feat: apply centerline resolution in differential map loader

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

Author: mitsudome-r

Diff for: map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp

@@ -27,10 +27,11 @@ namespace autoware::map_loader
 {
 
 Lanelet2DifferentialLoaderModule::Lanelet2DifferentialLoaderModule(
-  rclcpp::Node * node, const double & center_line_resolution)
+  rclcpp::Node * node, const double & center_line_resolution, const bool & use_waypoints)
 : logger_(node->get_logger()),
   clock_(node->get_clock()),
-  center_line_resolution_(center_line_resolution)
+  center_line_resolution_(center_line_resolution),
+  use_waypoints_(use_waypoints)
 {
   const auto metadata_adaptor = autoware::component_interface_utils::NodeAdaptor(node);
   metadata_adaptor.init_pub(pub_lanelet_map_meta_data_);
@@ -77,6 +78,13 @@ bool Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map(
     utils::merge_lanelet2_maps(*map, *map_tmp);
   }
 
+  // overwrite centerline
+  if (use_waypoints_) {
+    lanelet::utils::overwriteLaneletsCenterlineWithWaypoints(map, center_line_resolution_, false);
+  } else {
+    lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution_, false);
+  }
+
   // create the map bin message
   const auto map_bin_msg = utils::create_map_bin_msg(map, lanelet2_paths[0], rclcpp::Clock().now());
 

Diff for: map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.hpp

@@ -51,7 +51,7 @@ class Lanelet2DifferentialLoaderModule
 {
 public:
   explicit Lanelet2DifferentialLoaderModule(
-    rclcpp::Node * node, const double & center_line_resolution);
+    rclcpp::Node * node, const double & center_line_resolution, const bool & use_waypoints);
 
   void setLaneletMapMetadata(
     const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_dict, const double x_res,
@@ -74,7 +74,7 @@ class Lanelet2DifferentialLoaderModule
   std::optional<autoware_map_msgs::msg::MapProjectorInfo> projector_info_;
 
   double center_line_resolution_;
-
+  bool use_waypoints_;
   bool onServiceGetDifferentialLanelet2Map(
     GetDifferentialLanelet2Map::Request::SharedPtr req,
     GetDifferentialLanelet2Map::Response::SharedPtr res);

Diff for: map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -99,7 +99,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
 
   if (get_parameter("enable_differential_map_loading").as_bool()) {
     differential_loader_module_ = std::make_unique<Lanelet2DifferentialLoaderModule>(
-      this, get_parameter("center_line_resolution").as_double());
+      this, get_parameter("center_line_resolution").as_double(),
+      get_parameter("use_waypoints").as_bool());
   }
 }