The WISE ADS stack (Lanelet2 map server) uses the LocalCartesian projector. When GSS uses the standard UTMProjector, everything is shifted. This PR allows using the LocalCartesian whenever available (that is for people who use our fork of Lanelet2 library, which implements it) and for people using WISE ADS and Sim. For others, the standard UTMProjector is used otherwise.
When you just install the normal ros-noetic-lanelet2 package in Ubuntu and start the server, you'll see a log message:
ScenarioSetup.py:68] Using UTMProjector
But when you have our fork of Lanelet2 sourced, you'll see
ScenarioSetup.py:65] Using LocalCartesianProjector
```.
In either case, the scenarios work the same but LocalCartesian better handles elevations and everybody with WISE ADS/Sim will have it for co-simulation.
otherwise default to UTMProjector.
The WISE ADS stack (Lanelet2 map server) uses the LocalCartesian projector. When GSS uses the standard UTMProjector, everything is shifted. This PR allows using the LocalCartesian whenever available (that is for people who use our fork of Lanelet2 library, which implements it) and for people using WISE ADS and Sim. For others, the standard UTMProjector is used otherwise.
When you just install the normal
ros-noetic-lanelet2package in Ubuntu and start the server, you'll see a log message:But when you have our fork of Lanelet2 sourced, you'll see