Remove duplicate codes for conversion from lat/lon to xyz

[mitsudome-r]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

In Autoware, there are some packages that does the conversion from lat/lon to xyz. I believe they should be using the same backend library to avoid conversion errors between different nodes.

Purpose

Reduce duplicate codes in different packages.

Possible approaches

List all packages that does lat/lon -> xyz conversion and refactor as a single library.

Some packages that I am aware of:

• https://github.com/MapIV/llh_converter/tree/main/include/llh_converter (https://github.com/autowarefoundation/autoware/pull/3261)
• https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/gnss_poser/include/gnss_poser
• https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/geo_pos_conv
• https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/lib/mgrs_projector.cpp

Definition of done

TBD

[mitsudome-r]

From this discussion we have decided to wait for this task until we have stable release of Autoware so that we can do test of the packages with stable code.

[VRichardJP]

At Macnica we actually have done a similar thing quite a long time ago as we needed a lat/lon <-> plane/mgrs/utm/local conversion library for our FMS nodes. Almost everything is already implemented in gnss_poser and geo_pos_conv, so there is just to extract the pure conversion part, implement the missing reverse conversions (e.g. jp plane -> lat/lon) and put everything into a dedicated package. I can help to refactor the code after autoware has a release.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[kminoda]

In Autoware it has been unified into https://github.com/autowarefoundation/autoware.universe/tree/main/common/geography_utils.

One concern is that it currently depends on lanelet projector for conversion, but it can be easily replaced with the other algorithm if necessary, without any modification to the library users' codebase.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.