feat(map_loader): add grid coordinates for partial/differential map load

[kminoda]

Sample split map is here

sample-map-rosbag_split.zip
Here is a sample map split with metadata.yaml

Description

Please see https://github.com/orgs/autowarefoundation/discussions/3328 for the detail

You can use https://github.com/MapIV/pointcloud_divider for dividing pointcloud map into grids

Please find a how-to in updated readme

Should be merged after:

• feat(autoware_map_msgs): add grid coordinates in PointCloudMapCellWithID.msg autoware_msgs#52

Related links

Tests performed

• Generate a divided pointcloud map with a given tool
• Load the pointcloud map and its metadata with logging_simulator

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[kminoda]

@RyuYamamoto Sorry again, this is the latest PR 🙏

[RyuYamamoto]

LGTM

[kminoda]

@yukkysaito @YamatoAndo Could you also briefly review this PR?
I especially would like you to verify that the directory structure looks OK to you.

How to store map-related files

If you only have one pointcloud map, Autoware will assume the following directory structure by default.

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd
└── pointcloud_map_metadata.yaml (not necessary when only a single PCD file exists)

If you have multiple files, an example directory structure would be as follows:

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map
│   ├── pcd_00.pcd
│   ├── pcd_01.pcd
│   └── pcd_02.pcd
└── pointcloud_map_metadata.yaml

Note that in this case, you have to launch autoware or simulators with a following command:

ros2 launch autoware_launch autoware.launch.xml map_path:=/PATH/TO/sample-map-rosbag pointcloud_map_file:=pointcloud_map ...

[codecov]

Codecov Report

Patch coverage: 36.36% and project coverage change: +0.02 🎉

Comparison is base (11e4fcb) 13.08% compared to head (271c387) 13.10%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3205      +/-   ##
==========================================
+ Coverage   13.08%   13.10%   +0.02%     
==========================================
  Files        1257     1260       +3     
  Lines       88806    88877      +71     
  Branches    26865    26906      +41     
==========================================
+ Hits        11617    11647      +30     
- Misses      64944    64955      +11     
- Partials    12245    12275      +30     

Flag	Coverage Δ		*Carryforward flag
differential	34.07% <36.36%> (?)
total	13.08% <ø> (+<0.01%)	⬆️	Carriedforward from a71bc97

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...intcloud_map_loader/pointcloud_map_loader_node.cpp	1.75% <0.00%> (-0.42%)	⬇️
map/map_loader/src/pointcloud_map_loader/utils.hpp	0.00% <0.00%> (ø)
...ap_loader/test/test_replace_with_absolute_path.cpp	40.00% <40.00%> (ø)
map/map_loader/test/test_load_pcd_metadata.cpp	43.75% <43.75%> (ø)
map/map_loader/src/pointcloud_map_loader/utils.cpp	54.90% <54.54%> (-0.28%)	⬇️
...loud_map_loader/differential_map_loader_module.cpp	52.50% <75.00%> (+2.50%)	⬆️
...ointcloud_map_loader/partial_map_loader_module.cpp	61.29% <75.00%> (+2.03%)	⬆️
..._loader/test/test_pointcloud_map_loader_module.cpp	46.34% <100.00%> (+0.88%)	⬆️

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[yukkysaito]

LGTM