From c24660708531a677ee0dc156abab77fbb9751b54 Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Thu, 31 Oct 2024 10:39:27 +0100
Subject: [PATCH] feat(autoware_map_msgs): add MapProjectorInfo message (#102)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
---
 autoware_map_msgs/CMakeLists.txt           |  2 ++
 autoware_map_msgs/README.md                |  5 +++++
 autoware_map_msgs/msg/MapProjectorInfo.msg | 18 ++++++++++++++++++
 autoware_map_msgs/package.xml              |  1 +
 4 files changed, 26 insertions(+)
 create mode 100644 autoware_map_msgs/msg/MapProjectorInfo.msg

diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt
index 9948eae..19ac33f 100755
--- a/autoware_map_msgs/CMakeLists.txt
+++ b/autoware_map_msgs/CMakeLists.txt
@@ -9,6 +9,7 @@ set(msg_files
   "msg/LaneletMapBin.msg"
   "msg/LaneletMapMetaData.msg"
   "msg/LaneletMapCellMetaData.msg"
+  "msg/MapProjectorInfo.msg"
   "msg/PointCloudMapCellWithID.msg"
   "msg/PointCloudMapCellMetaData.msg"
   "msg/PointCloudMapCellMetaDataWithID.msg"
@@ -21,6 +22,7 @@ set(msg_files
 set(msg_dependencies
   std_msgs
   geometry_msgs
+  geographic_msgs
   sensor_msgs)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md
index 3e5c623..1eefc85 100644
--- a/autoware_map_msgs/README.md
+++ b/autoware_map_msgs/README.md
@@ -12,6 +12,11 @@ The message contains a pointcloud data attached with an ID.
 
 The message contains a pointcloud meta data attached with an ID. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section).
 
+## MapProjectorInfo.msg
+
+The message contains the information required to project global coordinates to local coordinates used by Autoware, which includes the name of the projection method and the parameters for the projection.
+For further information, please refer to the readme of [map_projection_loader](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_projection_loader/README.md) in Autoware Universe.
+
 ## GetPartialPointCloudMap.srv
 
 Given an area query (`AreaInfo`), the response is expected to contain the PCD maps (each of which attached with unique ID) whose area overlaps with the query.
diff --git a/autoware_map_msgs/msg/MapProjectorInfo.msg b/autoware_map_msgs/msg/MapProjectorInfo.msg
new file mode 100644
index 0000000..8a0184c
--- /dev/null
+++ b/autoware_map_msgs/msg/MapProjectorInfo.msg
@@ -0,0 +1,18 @@
+# Projector type
+string LOCAL = "Local"
+string LOCAL_CARTESIAN_UTM = "LocalCartesianUTM"
+string MGRS = "MGRS"
+string TRANSVERSE_MERCATOR = "TransverseMercator"
+string projector_type
+
+# Vertical datum
+string WGS84 = "WGS84"
+string EGM2008 = "EGM2008"
+string vertical_datum
+
+# Used for MGRS map
+string mgrs_grid
+
+# Used for some map projection types
+# altitude may not be in ellipsoid height
+geographic_msgs/GeoPoint map_origin
diff --git a/autoware_map_msgs/package.xml b/autoware_map_msgs/package.xml
index 22d82bc..9db7950 100755
--- a/autoware_map_msgs/package.xml
+++ b/autoware_map_msgs/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>geographic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>