From c9e880447f6338f7011801715a0b4267204d51d8 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Wed, 6 Nov 2024 13:23:22 +0900 Subject: [PATCH] feat(autoware_geography_utils)!: replace dependency from tier4_map_msgs to autoware_map_msgs Signed-off-by: Ryohsuke Mitsudome --- .../geography_utils/lanelet2_projector.hpp | 4 +-- .../autoware/geography_utils/projection.hpp | 4 +-- autoware_geography_utils/package.xml | 2 +- .../test/test_projection.cpp | 30 +++++++++---------- 4 files changed, 20 insertions(+), 20 deletions(-) diff --git a/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp b/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp index 7f6b2d78..0eea2a9f 100644 --- a/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp +++ b/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ #define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ -#include +#include #include @@ -23,7 +23,7 @@ namespace autoware::geography_utils { -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; +using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info); diff --git a/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/autoware_geography_utils/include/autoware/geography_utils/projection.hpp index 5ad605f9..678541ad 100644 --- a/autoware_geography_utils/include/autoware/geography_utils/projection.hpp +++ b/autoware_geography_utils/include/autoware/geography_utils/projection.hpp @@ -17,11 +17,11 @@ #include #include -#include +#include namespace autoware::geography_utils { -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; +using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; using GeoPoint = geographic_msgs::msg::GeoPoint; using LocalPoint = geometry_msgs::msg::Point; diff --git a/autoware_geography_utils/package.xml b/autoware_geography_utils/package.xml index bd3aa79b..06eef283 100644 --- a/autoware_geography_utils/package.xml +++ b/autoware_geography_utils/package.xml @@ -15,7 +15,7 @@ geographiclib geometry_msgs lanelet2_io - tier4_map_msgs + autoware_map_msgs ament_cmake_ros ament_lint_auto diff --git a/autoware_geography_utils/test/test_projection.cpp b/autoware_geography_utils/test/test_projection.cpp index 3355dbf8..b8d036c1 100644 --- a/autoware_geography_utils/test/test_projection.cpp +++ b/autoware_geography_utils/test/test_projection.cpp @@ -34,10 +34,10 @@ TEST(GeographyUtilsProjection, ProjectForwardToMGRS) local_point.z = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; // conversion const geometry_msgs::msg::Point converted_point = @@ -63,10 +63,10 @@ TEST(GeographyUtilsProjection, ProjectReverseFromMGRS) geo_point.altitude = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; // conversion const geographic_msgs::msg::GeoPoint converted_point = @@ -86,10 +86,10 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS) geo_point.altitude = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; // conversion const geometry_msgs::msg::Point converted_local_point = @@ -117,9 +117,9 @@ TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin) local_point.z = 20.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; projector_info.map_origin.latitude = 35.62426; projector_info.map_origin.longitude = 139.74252; projector_info.map_origin.altitude = -10.0; @@ -142,9 +142,9 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin) geo_point.altitude = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; projector_info.map_origin.latitude = 35.0; projector_info.map_origin.longitude = 139.0; projector_info.map_origin.altitude = 0.0;