Merge pull request #724 from tier4/sync-upstream

chore: sync upstream

.github/CODEOWNERS

@@ -79,6 +79,7 @@ launch/tier4_sensing_launch/** [email protected]
 launch/tier4_simulator_launch/** [email protected] [email protected] [email protected] [email protected] [email protected]
 launch/tier4_system_launch/** [email protected] [email protected]
 launch/tier4_vehicle_launch/** [email protected]
+localization/ar_tag_based_localizer/** [email protected] [email protected]
 localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected]
 localization/gyro_odometer/** [email protected] [email protected]
 localization/initial_pose_button_panel/** [email protected] [email protected]
@@ -95,6 +96,7 @@ localization/yabloc/yabloc_particle_filter/** [email protected] masahiro
 localization/yabloc/yabloc_pose_initializer/** [email protected] [email protected]
 map/map_height_fitter/** [email protected] [email protected] [email protected]
 map/map_loader/** [email protected] [email protected] [email protected] [email protected]
+map/map_projection_loader/** [email protected] [email protected] [email protected]
 map/map_tf_generator/** [email protected]
 map/util/lanelet2_map_preprocessor/** [email protected]
 perception/bytetrack/** [email protected]

launch/tier4_map_launch/launch/map.launch.py

@@ -12,13 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
+from ament_index_python import get_package_share_directory
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
 from launch.actions import OpaqueFunction
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
+from launch.launch_description_sources import AnyLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import Node
@@ -57,7 +62,10 @@ def launch_setup(context, *args, **kwargs):
         package="map_loader",
         plugin="Lanelet2MapLoaderNode",
         name="lanelet2_map_loader",
-        remappings=[("output/lanelet2_map", "vector_map")],
+        remappings=[
+            ("output/lanelet2_map", "vector_map"),
+            ("input/map_projector_info", "map_projector_type"),
+        ],
         parameters=[
             {
                 "lanelet2_map_path": LaunchConfiguration("lanelet2_map_path"),
@@ -110,6 +118,19 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    map_projection_loader_launch_file = os.path.join(
+        get_package_share_directory("map_projection_loader"),
+        "launch",
+        "map_projection_loader.launch.xml",
+    )
+    map_projection_loader = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(map_projection_loader_launch_file),
+        launch_arguments={
+            "map_projector_info_path": LaunchConfiguration("map_projector_info_path"),
+            "lanelet2_map_path": LaunchConfiguration("lanelet2_map_path"),
+        }.items(),
+    )
+
     container = ComposableNodeContainer(
         name="map_container",
         namespace="",
@@ -129,6 +150,7 @@ def launch_setup(context, *args, **kwargs):
             PushRosNamespace("map"),
             container,
             map_hash_generator,
+            map_projection_loader,
         ]
     )
 
@@ -159,6 +181,11 @@ def add_launch_arg(name: str, default_value=None, description=None):
         [LaunchConfiguration("map_path"), "/pointcloud_map_metadata.yaml"],
         "path to pointcloud map metadata file",
     ),
+    add_launch_arg(
+        "map_projector_info_path",
+        [LaunchConfiguration("map_path"), "/map_projector_info.yaml"],
+        "path to map projector info yaml file",
+    ),
     add_launch_arg(
         "lanelet2_map_loader_param_path",
         [

launch/tier4_map_launch/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>map_loader</exec_depend>
+  <exec_depend>map_projection_loader</exec_depend>
   <exec_depend>map_tf_generator</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>