feat!: change map_projector_type topic name

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;

launch/tier4_map_launch/launch/map.launch.py

@@ -64,7 +64,7 @@ def launch_setup(context, *args, **kwargs):
         name="lanelet2_map_loader",
         remappings=[
             ("output/lanelet2_map", "vector_map"),
-            ("input/map_projector_info", "map_projector_type"),
+            ("input/map_projector_info", "map_projector_info"),
         ],
         parameters=[
             {

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

map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp

@@ -43,7 +43,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
 private:
   void on_map_projector_info(const MapProjectorInfo::ConstSharedPtr msg);
 
-  rclcpp::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_type_;
+  rclcpp::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_info_;
   rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;
 };
 

map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -52,7 +52,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
 : Node("lanelet2_map_loader", options)
 {
   // subscription
-  sub_map_projector_type_ = create_subscription<MapProjectorInfo>(
+  sub_map_projector_info_ = create_subscription<MapProjectorInfo>(
     "input/map_projector_info", rclcpp::QoS{1}.transient_local(),
     [this](const MapProjectorInfo::ConstSharedPtr msg) { on_map_projector_info(msg); });
 }

map/map_projection_loader/launch/map_projection_loader.launch.xml

@@ -3,7 +3,7 @@
   <arg name="lanelet2_map_path" description="Path to the lanelet2 map file"/>
 
   <node pkg="map_projection_loader" exec="map_projection_loader" name="map_projection_loader" output="screen">
-    <remap from="~/map_projector_info" to="/map/map_projector_type"/>
+    <remap from="~/map_projector_info" to="/map/map_projector_info"/>
     <param name="map_projector_info_path" value="$(var map_projector_info_path)"/>
     <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
   </node>