feat!: rename map_projector_type to map_projector_info (#4664)

Signed-off-by: kminoda <[email protected]>
autowarefoundation · Aug 21, 2023 · 93b00e4 · 93b00e4
1 parent 14b68f8
commit 93b00e4
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Showing 7 changed files with 7 additions and 7 deletions.
diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/component_interface_specs/include/component_interface_specs/map.hpp
@@ -25,7 +25,7 @@ namespace map_interface
 struct MapProjectorInfo
 {
   using Message = tier4_map_msgs::msg::MapProjectorInfo;
-  static constexpr char name[] = "/map/map_projector_type";
+  static constexpr char name[] = "/map/map_projector_info";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;

diff --git a/map/map_loader/README.md b/map/map_loader/README.md
@@ -140,7 +140,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 ### Feature
 
 lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_auto_mapping_msgs/HADMapBin message.
-The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_type` from `map_projection_loader`.
+The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`.
 The node supports the following three types of coordinate systems:
 
 - MGRS

diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
@@ -47,7 +47,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
 
   void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
 
-  component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_type_;
+  component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_info_;
   rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;
 };
 

diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -55,7 +55,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
 
   // subscription
   adaptor.init_sub(
-    sub_map_projector_type_,
+    sub_map_projector_info_,
     [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });
 
   declare_parameter("lanelet2_map_path", "");

diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py
@@ -110,7 +110,7 @@ def test_node_link(self):
         # Create subscription to map_projector_info topic
         subscription = self.test_node.create_subscription(
             MapProjectorInfo,
-            "/map/map_projector_type",
+            "/map/map_projector_info",
             self.callback,
             custom_qos_profile,
         )

diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
@@ -110,7 +110,7 @@ def test_node_link(self):
         # Create subscription to map_projector_info topic
         subscription = self.test_node.create_subscription(
             MapProjectorInfo,
-            "/map/map_projector_type",
+            "/map/map_projector_info",
             self.callback,
             custom_qos_profile,
         )

diff --git a/map/map_projection_loader/test/test_node_load_utm_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_utm_from_yaml.test.py
@@ -110,7 +110,7 @@ def test_node_link(self):
         # Create subscription to map_projector_info topic
         subscription = self.test_node.create_subscription(
             MapProjectorInfo,
-            "/map/map_projector_type",
+            "/map/map_projector_info",
             self.callback,
             custom_qos_profile,
         )