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feat(map_tf_generator)!: launching planning_simulator without pointcl…
…oud map (tier4#1216) * feat(map_tf_generator): add vector map tf generator Signed-off-by: Shumpei Wakabayashi <[email protected]> * fix(ad_service_state_monitor): rm unused cofig param Signed-off-by: Shumpei Wakabayashi <[email protected]> * chore: change launching vector_map_tf_generator Signed-off-by: Shumpei Wakabayashi <[email protected]> * docs: update readme Signed-off-by: Shumpei Wakabayashi <[email protected]> * refactor: rename map_tf_generator -> pcd_map_tf_generator Signed-off-by: Shumpei Wakabayashi <[email protected]> * fix: build error Signed-off-by: Shumpei Wakabayashi <[email protected]> * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <[email protected]> * Update map/map_tf_generator/src/vector_map_tf_generator_node.cpp Co-authored-by: Kenji Miyake <[email protected]> * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <[email protected]> * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]>
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| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include <lanelet2_extension/utility/message_conversion.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp> | ||
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| #include <lanelet2_core/LaneletMap.h> | ||
| #include <lanelet2_core/geometry/Point.h> | ||
| #include <tf2/LinearMath/Quaternion.h> | ||
| #include <tf2_ros/static_transform_broadcaster.h> | ||
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| #include <memory> | ||
| #include <string> | ||
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| class VectorMapTFGeneratorNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit VectorMapTFGeneratorNode(const rclcpp::NodeOptions & options) | ||
| : Node("vector_map_tf_generator", options) | ||
| { | ||
| map_frame_ = declare_parameter("map_frame", "map"); | ||
| viewer_frame_ = declare_parameter("viewer_frame", "viewer"); | ||
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| sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( | ||
| "vector_map", rclcpp::QoS{1}.transient_local(), | ||
| std::bind(&VectorMapTFGeneratorNode::onVectorMap, this, std::placeholders::_1)); | ||
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| static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this); | ||
| } | ||
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| private: | ||
| std::string map_frame_; | ||
| std::string viewer_frame_; | ||
| rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_; | ||
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| std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_broadcaster_; | ||
| std::shared_ptr<lanelet::LaneletMap> lanelet_map_ptr_; | ||
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| void onVectorMap(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg) | ||
| { | ||
| lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>(); | ||
| lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr_); | ||
| std::vector<double> points_x; | ||
| std::vector<double> points_y; | ||
| std::vector<double> points_z; | ||
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| for (const lanelet::Point3d & point : lanelet_map_ptr_->pointLayer) { | ||
| const double point_x = point.x(); | ||
| const double point_y = point.y(); | ||
| const double point_z = point.z(); | ||
| points_x.push_back(point_x); | ||
| points_y.push_back(point_y); | ||
| points_z.push_back(point_z); | ||
| } | ||
| const double coordinate_x = | ||
| std::accumulate(points_x.begin(), points_x.end(), 0.0) / points_x.size(); | ||
| const double coordinate_y = | ||
| std::accumulate(points_y.begin(), points_y.end(), 0.0) / points_y.size(); | ||
| const double coordinate_z = | ||
| std::accumulate(points_z.begin(), points_z.end(), 0.0) / points_z.size(); | ||
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| geometry_msgs::msg::TransformStamped static_transformStamped; | ||
| static_transformStamped.header.stamp = this->now(); | ||
| static_transformStamped.header.frame_id = map_frame_; | ||
| static_transformStamped.child_frame_id = viewer_frame_; | ||
| static_transformStamped.transform.translation.x = coordinate_x; | ||
| static_transformStamped.transform.translation.y = coordinate_y; | ||
| static_transformStamped.transform.translation.z = coordinate_z; | ||
| tf2::Quaternion quat; | ||
| quat.setRPY(0, 0, 0); | ||
| static_transformStamped.transform.rotation.x = quat.x(); | ||
| static_transformStamped.transform.rotation.y = quat.y(); | ||
| static_transformStamped.transform.rotation.z = quat.z(); | ||
| static_transformStamped.transform.rotation.w = quat.w(); | ||
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| static_broadcaster_->sendTransform(static_transformStamped); | ||
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| RCLCPP_INFO_STREAM( | ||
| get_logger(), "broadcast static tf. map_frame:" | ||
| << map_frame_ << ", viewer_frame:" << viewer_frame_ << ", x:" << coordinate_x | ||
| << ", y:" << coordinate_y << ", z:" << coordinate_z); | ||
| } | ||
| }; | ||
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| #include <rclcpp_components/register_node_macro.hpp> | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(VectorMapTFGeneratorNode) |
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