Add option to lanelet2_map_loader for local coordinates

[isamu-takagi]

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

I'm developing API that provides the global vehicle position (latitude and longitude). For that, I tried to convert from map position to global position, but the autoware osm parser in the lanelet2_extension package overwrites position if local_x or local_y is specified in the Lanelet2 map. This works regardless of the projection type settings in the map loader, the transformation may not match the map projection type. So add an explicit option to the map loader to use local coordinates.

Purpose

To support reverse projection of coordinates in different nodes

Possible approaches

• Add a local projection type option to the lanelet2 map loader and use local coordinates only with this option.
• Add a dummy projector that does nothing because it is overwritten if local projection type is used (optional).

Definition of done

• [x] Remove overwrite logic from lanelet2_extension https://github.com/autowarefoundation/autoware_common/pull/174
• [x] Add overwrite logic to map_loader https://github.com/autowarefoundation/autoware.universe/pull/3492
• [x] Add local projector type to map_loader https://github.com/autowarefoundation/autoware.universe/pull/3492
• [x] Add dummy projector to lanelet2_extension

[tkhmy]

I removed the local parser for lanelet_extension https://github.com/autowarefoundation/autoware_common/pull/174

the local parser will be in map_loader https://github.com/autowarefoundation/autoware.universe/pull/3492

[xmfcx]

@isamu-takagi -san,

The task: Add dummy projector to lanelet2_extension

• Is this task important, will it be implemented?

[isamu-takagi]

The task: Add dummy projector to lanelet2_extension

This task is not important. Currently, if a local type is used, it is overwritten with local coordinates after being projected with MGRS, so there is a bit of processing waste.

Also, there may be cases where only some positions are overwritten with local coordinates. In this case, it is better to be able to specify a sub-projection type when using local projections.

[isamu-takagi]

Also, there may be cases where only some positions are overwritten with local coordinates. In this case, it is better to be able to specify a sub-projection type when using local projections.

Changed to use dummy projector. I will consider adding the above cases if necessary. https://github.com/autowarefoundation/autoware.universe/pull/5866

[xmfcx]

Thank you @isamu-takagi -san!