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refactor(map_loader): split to member functions #1941

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Sep 23, 2022
Merged

refactor(map_loader): split to member functions #1941

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10 changes: 9 additions & 1 deletion map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,22 @@
#include <lanelet2_projection/UTM.h>

#include <memory>
#include <string>

using autoware_auto_mapping_msgs::msg::HADMapBin;

class Lanelet2MapLoaderNode : public rclcpp::Node
{
public:
explicit Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options);

private:
rclcpp::Publisher<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr pub_map_bin_;
rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;

lanelet::LaneletMapPtr load_map(
const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type);
HADMapBin create_map_bin_msg(
const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename);
};

#endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
64 changes: 45 additions & 19 deletions map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,47 +51,73 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
{
const auto lanelet2_filename = declare_parameter("lanelet2_map_path", "");
const auto lanelet2_map_projector_type = declare_parameter("lanelet2_map_projector_type", "MGRS");
const auto center_line_resolution = declare_parameter("center_line_resolution", 5.0);

// load map from file
const auto map = load_map(lanelet2_filename, lanelet2_map_projector_type);
if (!map) {
return;
}

// overwrite centerline
lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false);

// create map bin msg
const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename);

// create publisher and publish
pub_map_bin_ =
create_publisher<HADMapBin>("output/lanelet2_map", rclcpp::QoS{1}.transient_local());
pub_map_bin_->publish(map_bin_msg);
}

lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type)
{
lanelet::ErrorMessages errors{};
lanelet::LaneletMapPtr map;
if (lanelet2_map_projector_type == "MGRS") {
lanelet::projection::MGRSProjector projector{};
map = lanelet::load(lanelet2_filename, projector, &errors);
const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors);
if (errors.empty()) {
return map;
}
} else if (lanelet2_map_projector_type == "UTM") {
double map_origin_lat = this->declare_parameter("latitude", 0.0);
double map_origin_lon = this->declare_parameter("longitude", 0.0);
const double map_origin_lat = declare_parameter("latitude", 0.0);
const double map_origin_lon = declare_parameter("longitude", 0.0);
lanelet::GPSPoint position{map_origin_lat, map_origin_lon};
lanelet::Origin origin{position};
lanelet::projection::UtmProjector projector{origin};
map = lanelet::load(lanelet2_filename, projector, &errors);

const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors);
if (errors.empty()) {
return map;
}
} else {
RCLCPP_ERROR(this->get_logger(), "lanelet2_map_projector_type is not supported");
RCLCPP_ERROR(get_logger(), "lanelet2_map_projector_type is not supported");
return nullptr;
}

for (const auto & error : errors) {
RCLCPP_ERROR_STREAM(this->get_logger(), error);
RCLCPP_ERROR_STREAM(get_logger(), error);
}
if (!errors.empty()) {
return;
}

const auto center_line_resolution = this->declare_parameter("center_line_resolution", 5.0);
lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false);
return nullptr;
}

HADMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename)
{
std::string format_version{}, map_version{};
lanelet::io_handlers::AutowareOsmParser::parseVersions(
lanelet2_filename, &format_version, &map_version);

pub_map_bin_ = this->create_publisher<autoware_auto_mapping_msgs::msg::HADMapBin>(
"output/lanelet2_map", rclcpp::QoS{1}.transient_local());

autoware_auto_mapping_msgs::msg::HADMapBin map_bin_msg;
map_bin_msg.header.stamp = this->now();
HADMapBin map_bin_msg;
map_bin_msg.header.stamp = now();
map_bin_msg.header.frame_id = "map";
map_bin_msg.format_version = format_version;
map_bin_msg.map_version = map_version;
lanelet::utils::conversion::toBinMsg(map, &map_bin_msg);

pub_map_bin_->publish(map_bin_msg);
return map_bin_msg;
}

#include <rclcpp_components/register_node_macro.hpp>
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