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feat(gnss_poser): subscribe map projector info #4791

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kminoda
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@kminoda kminoda commented Aug 29, 2023

Description

Use /map/map_projector_info in gnss_poser

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Tests performed

  • Logging simulator works the same
  • The result of ros2 topic info -v /map/map_projector_info is as follow
Type: tier4_map_msgs/msg/MapProjectorInfo

Publisher count: 1
                                                    
Node name: map_projection_loader               
Node namespace: /map       
...
                                                    
Subscription count: 3                          
                                                    
Node name: gnss_poser                                                                                    
Node namespace: /sensing/gnss
...

Node name: vehicle
Node namespace: /default_ad_api/node
...

Node name: lanelet2_map_loader
Node namespace: /map
...

Notes for reviewers

None

Interface changes

None

Effects on system behavior

The output of gnss_poser will now going to depend on the map projector info defined in map_projection_loader.

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@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Aug 29, 2023
@github-actions github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:system System design and integration. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Aug 30, 2023
@kminoda kminoda force-pushed the feat/gnss_poser/subscribe_map_projector_info branch from ec7a5e4 to 2d7c420 Compare August 30, 2023 12:15
@github-actions github-actions bot removed component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Aug 30, 2023
@github-actions github-actions bot removed component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:system System design and integration. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Aug 30, 2023
@kminoda kminoda added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 30, 2023
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codecov bot commented Aug 30, 2023

Codecov Report

Patch coverage has no change and project coverage change: +0.02% 🎉

Comparison is base (58db04e) 15.11% compared to head (25149aa) 15.14%.
Report is 2 commits behind head on main.

Additional details and impacted files
@@            Coverage Diff             @@
##             main    #4791      +/-   ##
==========================================
+ Coverage   15.11%   15.14%   +0.02%     
==========================================
  Files        1573     1567       -6     
  Lines      108378   107795     -583     
  Branches    33284    32999     -285     
==========================================
- Hits        16385    16329      -56     
+ Misses      74138    73682     -456     
+ Partials    17855    17784      -71     
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 15.15% <ø> (+0.03%) ⬆️ Carriedforward from 2315133

*This pull request uses carry forward flags. Click here to find out more.

Files Changed Coverage Δ
sensing/gnss_poser/include/gnss_poser/convert.hpp 0.00% <0.00%> (ø)
...ensing/gnss_poser/include/gnss_poser/gnss_stat.hpp 0.00% <ø> (ø)
sensing/gnss_poser/src/gnss_poser_core.cpp 0.00% <0.00%> (ø)

... and 47 files with indirect coverage changes

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@YamatoAndo YamatoAndo left a comment

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LGTM
please merge this pr after merging #4850

@kminoda kminoda merged commit 1628175 into autowarefoundation:main Sep 1, 2023
20 of 24 checks passed
@kminoda kminoda deleted the feat/gnss_poser/subscribe_map_projector_info branch September 26, 2023 01:36
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component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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2 participants