feat(autoware_map_msgs): add msg and srv files releated with dynamic lanelet loading

[StepTurtle]

Description

Add some msg and srv files will use from dynamic lanelet loading.

Related links

Proposal Link

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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[yukkysaito]

Just a confirmation. 🙏
Does this Pull Request mean that approach3 has been adopted?
https://github.com/orgs/autowarefoundation/discussions/4120

[yukkysaito]

Thank you for your PR 👍
May I make two requests?

• Also, the interface is very important to the microautonomy architecture, so if autoware_msgs is to be changed, it should be included in the documentation. 🙏
• We are currently trying to deprecate autoware_auto_msgs. Therefore, could you please remove the dependency from this PR? Also, the timing of the merge needs to be adjusted. cc @mitsudome-r
  https://github.com/orgs/autowarefoundation/discussions/3862

[StepTurtle]

Thanks for your reviews @yukkysaito ,

* Also, the interface is very important to the microautonomy architecture, so if autoware_msgs is to be changed, it should be included in [the documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/map/). 🙏

Okay, I'll update the documentation ASAP. Do I need to change anything else, or is the page you shared enough for now?

* We are currently trying to deprecate autoware_auto_msgs. Therefore, could you please remove the dependency from this PR? Also, the timing of the merge needs to be adjusted. cc @mitsudome-r
  https://github.com/orgs/autowarefoundation/discussions/3862

I have a question: If I remove the dependency, should I use autoware_msgs/msg/LaneletMapBin? If I switch to this message, it seems like I'll need to make several changes on both the map and planner sides. For example, I'd need to update the planner lanelet subscribers, map_loader publishers, and modify the Lanelet2Map to map binary message function, and so on. Can you confirm if my understanding is correct?

[StepTurtle]

Just a confirmation. 🙏 Does this Pull Request mean that approach3 has been adopted? https://github.com/orgs/autowarefoundation/discussions/4120

Yes, we are currently trying to implement third approach.

[yukkysaito]

Okay, I'll update the documentation ASAP. Do I need to change anything else, or is the page you shared enough for now?

Yes. I think it is sufficient. 👍

I have a question: If I remove the dependency, should I use autoware_msgs/msg/LaneletMapBin? If I switch to this message, it seems like I'll need to make several changes on both the map and planner sides. For example, I'd need to update the planner lanelet subscribers, map_loader publishers, and modify the Lanelet2Map to map binary message function, and so on. Can you confirm if my understanding is correct?

Yes. It is better to use autoware_msgs/msg/LaneletMapBin instead of autoware_auto_msgs.
The situation here is complicated, so it might be better to discuss it in the WG. @mitsudome-r

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[YamatoAndo]

@StepTurtle @mitsudome-r @yukkysaito Hi
I want to align the message types as much as possible between PointCloudMap and LaneletMap.

1. In Lanelet, the term "Tile" is used, whereas in PointCloud, the term "Cell" is used. I am fine with either, but I would like to unify the term.

2. There are slight differences in how the message types are structured between the two.

For Lanelet, the structure is as follows:
LaneletMapTileMetaData.msg

int32 tile_id
float64 min_x
float64 max_x
float64 min_y
float64 max_y

And for PointCloud, the structure is:
PointCloudMapCellMetaData.msg

float32 min_x
float32 min_y
float32 max_x
float32 max_y

PointCloudMapCellMetaDataWithID.msg

string cell_id
PointCloudMapCellMetaData metadata

I am fine with either structure, but I would like to unify them.

Do you have any ideas?

[YamatoAndo]

@StepTurtle GetDifferentialLanelet2Map.srv corresponds to GetSelectedPointCloudMap.srv in PointCloud.
So, could you please change the name to GetSelectedLanelet2Map.srv?

[StepTurtle]

@YamatoAndo

I changed the service name with the name you suggest (GetSelectedLanelet2Map.srv). 👍🏽

---

About the aligning the message types:

• About 1. matter you mentioned: both of the names are okay with me too.
• About 2. matter you mentioned: can you check this review: feat(autoware_map_msgs): add msg and srv files releated with dynamic lanelet loading #81 (comment). We discussed this before but I guess we can relocate the tile_id if you want.

[YamatoAndo]

@StepTurtle Thank you for the reply and the modification!

@mitsudome-r @yukkysaito Do you have any idaes?

[mitsudome-r]

I have made the comment here: #81 (comment).

[yukkysaito]

I have made the comment here: #81 (comment).

I also commented on the same part.

[YamatoAndo]

@yukkysaito @mitsudome-r
Please also answer this comment.

In Lanelet, the term "Tile" is used, whereas in PointCloud, the term "Cell" is used. I am fine with either, but I would like to unify the term.

[yukkysaito]

I want to align the message types as much as possible between PointCloudMap and LaneletMap.

I think either option is fine, but since the existing one is "cell" and is actually being used, it would be better to use "cell" unless someone else has a strong preference.

[YamatoAndo]

@yukkysaito Thank you for the reply!

@StepTurtle Could you please change it to cell_id?

[StepTurtle]

@YamatoAndo

Just changed the tile_id with cell_id

[yukkysaito]

LGTM
@mitsudome-r @xmfcx @YamatoAndo Any opinions?

[YamatoAndo]

LGTM!

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[YamatoAndo]

@mitsudome-r @yukkysaito
The review of autowarefoundation/autoware.universe#6241 is almost finished, so could you please merge this PR beforehand?