feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjector…

…Info (#9392) Signed-off-by: Ryohsuke Mitsudome <[email protected]>
autowarefoundation · Dec 4, 2024 · f949bd1 · f949bd1
1 parent e6c794e
commit f949bd1
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Showing 4 changed files with 20 additions and 20 deletions.
diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp
@@ -15,15 +15,15 @@
 #ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
 #define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
 
-#include <tier4_map_msgs/msg/map_projector_info.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 
 #include <lanelet2_io/Projection.h>
 
 #include <memory>
 
 namespace autoware::geography_utils
 {
-using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo;
+using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo;
 
 std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInfo & projector_info);
 

diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp
@@ -15,13 +15,13 @@
 #ifndef AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_
 #define AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_
 
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 #include <geographic_msgs/msg/geo_point.hpp>
 #include <geometry_msgs/msg/point.hpp>
-#include <tier4_map_msgs/msg/map_projector_info.hpp>
 
 namespace autoware::geography_utils
 {
-using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo;
+using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo;
 using GeoPoint = geographic_msgs::msg::GeoPoint;
 using LocalPoint = geometry_msgs::msg::Point;
 

diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_geography_utils/package.xml
@@ -17,11 +17,11 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_io</depend>
-  <depend>tier4_map_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/common/autoware_geography_utils/test/test_projection.cpp b/common/autoware_geography_utils/test/test_projection.cpp
@@ -34,10 +34,10 @@ TEST(GeographyUtilsProjection, ProjectForwardToMGRS)
   local_point.z = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
   projector_info.mgrs_grid = "54SUE";
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
 
   // conversion
   const geometry_msgs::msg::Point converted_point =
@@ -63,10 +63,10 @@ TEST(GeographyUtilsProjection, ProjectReverseFromMGRS)
   geo_point.altitude = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
   projector_info.mgrs_grid = "54SUE";
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
 
   // conversion
   const geographic_msgs::msg::GeoPoint converted_point =
@@ -86,10 +86,10 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS)
   geo_point.altitude = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
   projector_info.mgrs_grid = "54SUE";
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
 
   // conversion
   const geometry_msgs::msg::Point converted_local_point =
@@ -117,9 +117,9 @@ TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin)
   local_point.z = 20.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
   projector_info.map_origin.latitude = 35.62426;
   projector_info.map_origin.longitude = 139.74252;
   projector_info.map_origin.altitude = -10.0;
@@ -142,9 +142,9 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin)
   geo_point.altitude = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
   projector_info.map_origin.latitude = 35.0;
   projector_info.map_origin.longitude = 139.0;
   projector_info.map_origin.altitude = 0.0;