feat(autoware_static_centrline_generator): load projecter info from yaml file#333
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saka1-s wants to merge 3 commits intoautowarefoundation:mainfrom
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feat(autoware_static_centrline_generator): load projecter info from yaml file#333saka1-s wants to merge 3 commits intoautowarefoundation:mainfrom
saka1-s wants to merge 3 commits intoautowarefoundation:mainfrom
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kosuke55
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Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com>
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| <!-- mandatory arguments when mode is AUTO --> | ||
| <arg name="lanelet2_input_file_path" default=""/> | ||
| <arg name="lanelet2_input_dir_path" default="/opt/autoware/maps"/> |
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The PR replaces lanelet2_input_file_path with lanelet2_input_dir_path and introduces assumption that the file names would be "lanelet2_map.osm" and "map_projector_info.yaml", which may not be always true.
Instead, I suggest to change as the following to keep the flexibility to specify the files with different file names.
Suggested change
| <arg name="lanelet2_input_dir_path" default="/opt/autoware/maps"/> | |
| <arg name="map_dir_path" default="/opt/autoware/maps"/> | |
| <arg name="lanelet2_input_file_path" default="$(var map_dir_path)/lanelet2_map.osm"/> | |
| <arg name="map_projector_info_file_path" default="$(var map_dir_path)/map_projector_info.yaml"/> |
Then, the node could take in two parameters, "lanelet2_input_file_path" and "map_projector_info_file_path", and load them respectively instead of internally generating the full path inside the node.
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Description
Currently, autoware_static_centrline_generator only supports maps in the MGRS coordinate system and local coordinate system.
This PR can be changed to support a variety of coordinate systems by reading the coordinate system from a yaml file.
How was this PR tested?
With TM coordinate map.
Notes for reviewers
None.
Effects on system behavior
After merged this PR, user need to specify map directory path.