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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
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refactor(autoware_auto_mapping_msgs): replace autoware_auto_mapping_msgs with autoware_map_msgs #3975

Open cyn-liu opened 1 year ago

cyn-liu commented 1 year ago

Checklist

Description

Replace all usages of

Mainly replacing 

$ grep -ril "autoware_auto_mapping_msgs::" ./
./core/external/autoware_auto_msgs/autoware_auto_mapping_msgs/srv/HADMapService.idl
./core/external/autoware_auto_msgs/autoware_auto_mapping_msgs/msg/HADMapSegment.idl
./core/external/autoware_auto_msgs/autoware_auto_planning_msgs/msg/HADMapRoute.idl
./core/external/autoware_auto_msgs/autoware_auto_planning_msgs/msg/Route.idl
./core/autoware_common/tmp/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp
./core/autoware_common/tmp/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp
./core/autoware_common/tmp/lanelet2_extension/README.md
./core/autoware_common/tmp/lanelet2_extension/lib/message_conversion.cpp
./core/autoware_common/tmp/lanelet2_extension/test/src/test_message_conversion.cpp
./core/autoware_common/tmp/lanelet2_extension/test/src/test_route_checker.cpp
./universe/autoware.universe/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp
./universe/autoware.universe/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
./universe/autoware.universe/sensing/pointcloud_preprocessor/docs/vector-map-filter.md
./universe/autoware.universe/sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter.md
./universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp
./universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp
./universe/autoware.universe/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
./universe/autoware.universe/planning/mission_planner/include/mission_planner/mission_planner_plugin.hpp
./universe/autoware.universe/planning/mission_planner/src/mission_planner/mission_planner.hpp
./universe/autoware.universe/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp
./universe/autoware.universe/planning/scenario_selector/README.md
./universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
./universe/autoware.universe/planning/behavior_velocity_planner/README.md
./universe/autoware.universe/planning/behavior_velocity_planner/src/node.hpp
./universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp
./universe/autoware.universe/planning/costmap_generator/include/costmap_generator/costmap_generator.hpp
./universe/autoware.universe/planning/costmap_generator/README.md
./universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
./universe/autoware.universe/planning/route_handler/include/route_handler/route_handler.hpp
./universe/autoware.universe/planning/obstacle_stop_planner/README.md
./universe/autoware.universe/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp
./universe/autoware.universe/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp
./universe/autoware.universe/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
./universe/autoware.universe/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp
./universe/autoware.universe/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
./universe/autoware.universe/planning/behavior_path_planner/README.md
./universe/autoware.universe/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp
./universe/autoware.universe/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp
./universe/autoware.universe/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
./universe/autoware.universe/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp
./universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
./universe/autoware.universe/map/map_tf_generator/Readme.md
./universe/autoware.universe/map/map_tf_generator/src/vector_map_tf_generator_node.cpp
./universe/autoware.universe/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
./universe/autoware.universe/control/lane_departure_checker/README.md
./universe/autoware.universe/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
./universe/autoware.universe/perception/crosswalk_traffic_light_estimator/README.md
./universe/autoware.universe/perception/traffic_light_selector/src/traffic_light_selector.hpp
./universe/autoware.universe/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
./universe/autoware.universe/perception/detected_object_validation/object-lanelet-filter.md
./universe/autoware.universe/perception/detected_object_validation/src/object_lanelet_filter.cpp
./universe/autoware.universe/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp
./universe/autoware.universe/perception/traffic_light_map_based_detector/README.md
./universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp
./universe/autoware.universe/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp
./universe/autoware.universe/perception/elevation_map_loader/README.md
./universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp
./universe/autoware.universe/perception/traffic_light_visualization/include/traffic_light_map_visualizer/node.hpp
./universe/autoware.universe/perception/traffic_light_visualization/README.md
./universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp
./universe/autoware.universe/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
./universe/autoware.universe/perception/map_based_prediction/README.md
./universe/autoware.universe/perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp
./universe/autoware.universe/perception/traffic_light_arbiter/README.md

Purpose

To deprecate the autoware_auto_mapping_msgs and switch to autoware_map_msgs.

Possible approaches

I probably have to modify all of these files in a single PR.

Definition of done

doing. cc. @xmfcx

cyn-liu commented 11 months ago

@xmfcx hello: I am adding a map adapter, but I noticed that the autoware_map_msg/LaneletMapBin.msg (you added) is different autoware_auto_mapping_msg/HADMapBin.idl.

autoware_auto_mapping_msg/HADMapBin.idl -> autoware_map_msg/LaneletMapBin.msg string format_version -> string version_map_format string map_version -> string version_map sequence < uint8 > data -> uint8[] data

I have a question about the following pair, their data types are inconsistent, do they represent the same data? uint8 map_format -> string name_map

Looking forward to your answering my questions. Thank you.

cyn-liu commented 11 months ago

@xmfcx

xmfcx commented 11 months ago

@cyn-liu

I have a question about the following pair, their data types are inconsistent, do they represent the same data? uint8 map_format -> string name_map

No, In the old format, it was possible to have multiple map representations like MAP_FORMAT_LANELET2, MAP_FORMAT_OPEN_DRIVE

https://github.com/tier4/autoware_auto_msgs/blob/e1795354161ed54d66659366262578863bd2b862/autoware_auto_mapping_msgs/msg/HADMapBin.idl#L5C1-L7C7

But in the new format, by the name, it is assumed to be Lanelet2. The field is removed.

stale[bot] commented 9 months ago

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