feat(geography_utils): add projection in geography_utils

[kminoda]

Description

Main idea: Unify latlon <-> xy conversion in the whole system using lanelet2 projector

• geography_utils: added a general project_forward/reverse function based on lanelet2 projector
• gnss_poser: remove convert.hpp and use project_forward instead
• default_ad_api: use project_reverse instead

Related links

None

Tests performed

• confirmed that all the test passes in geography_utils
• using the logging_simulator, I confirmed that
  • localization works the same as before
  • the output of gnss_poser is the same as before
  • the output of default_ad_api ( /api/vehicle/kinematics ) is the same as before
  • (please be aware that the original altitude of sample-map-rosbag is wrong, as it is not either WGS84 nor EGM)

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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Summary by CodeRabbit

• New Feature: Added functionality for coordinate projection between geographic and local Cartesian coordinates using the Lanelet2 projector. This allows for unified conversion throughout the system.
• New Feature: Introduced a new header file projection.hpp in the geography_utils module, defining functions for coordinate projection.
• New Feature: Added unit tests for the geography_utils module to verify the correctness of coordinate conversion.
• Bug Fix: Removed unnecessary #include statements and dependencies in various files.
• Refactor: Replaced the convert function in the GNSSPoser class with a call to geography_utils::project_forward for latitude/longitude to Cartesian coordinate conversion.
• Chore: Updated the package manifest file to include new dependencies (geographic_msgs and geometry_msgs).

[isamu-takagi]

LGTM (default_ad_api)

[github-actions]

CodeRabbit

Walkthrough

The changes include the addition of a new file for projection functions in the geography_utils library, the introduction of a new header file defining conversion functions between geographic and local coordinates, the addition of dependencies in the package manifest file, updates to test cases and unit tests, and modifications to the gnss_poser module to use the geography_utils functions for coordinate conversion.

Changes

File	Summary
common/geography_utils/CMakeLists.txt	Adds a new file projection.cpp to the geography_utils library.
common/geography_utils/include/geography_utils/height.hpp	Removes unnecessary #include statements.
common/geography_utils/include/geography_utils/projection.hpp	Introduces a new header file defining conversion functions between geographic and local coordinates.
common/geography_utils/package.xml	Adds two dependencies (geographic_msgs and geometry_msgs) in the package manifest file.
common/geography_utils/src/projection.cpp	Adds functions for projecting geographic coordinates to local coordinates and vice versa.
common/geography_utils/test/test_geography_utils.cpp	Modifies test cases and initializes Google Test in the main function.
common/geography_utils/test/test_height.cpp	Updates test case names.
common/geography_utils/test/test_projection.cpp	Adds unit tests for the geography_utils module.
sensing/gnss_poser/CMakeLists.txt	Removes the convert.hpp header file from the gnss_poser module.
sensing/gnss_poser/include/gnss_poser/convert.hpp	Removes the gnss_poser/convert.hpp file containing coordinate conversion functions.
sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp	Removes unnecessary #include statements and functions from the GNSSPoser class.
sensing/gnss_poser/src/gnss_poser_core.cpp	Replaces the convert function with a call to geography_utils::project_forward for coordinate conversion.

🐇📜 "In the land of code, changes abound,
Geography and coordinates, newly found.
Dependencies added, tests now run,
Conversion functions, old ones undone.
The rabbit hops, reviewing with glee,
Ensuring the code is as it should be."

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[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 9ac0ea4 and 2097712 commits.

Files selected (15)

• common/geography_utils/CMakeLists.txt (1)
• common/geography_utils/include/geography_utils/height.hpp (1)
• common/geography_utils/include/geography_utils/projection.hpp (1)
• common/geography_utils/package.xml (1)
• common/geography_utils/src/projection.cpp (1)
• common/geography_utils/test/test_geography_utils.cpp (2)
• common/geography_utils/test/test_height.cpp (6)
• common/geography_utils/test/test_projection.cpp (1)
• sensing/gnss_poser/CMakeLists.txt (1)
• sensing/gnss_poser/include/gnss_poser/convert.hpp (1)
• sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp (2)
• sensing/gnss_poser/src/gnss_poser_core.cpp (3)
• system/default_ad_api/package.xml (1)
• system/default_ad_api/src/vehicle.cpp (3)
• system/default_ad_api/src/vehicle.hpp (3)

Files skipped from review due to trivial changes (6)

• common/geography_utils/include/geography_utils/height.hpp
• common/geography_utils/test/test_height.cpp
• common/geography_utils/test/test_projection.cpp
• system/default_ad_api/package.xml
• system/default_ad_api/src/vehicle.hpp
• sensing/gnss_poser/include/gnss_poser/convert.hpp (diff too large)

Review comments generated (14)

• Review: 10
• LGTM: 4

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[YamatoAndo]

Suggested change

	gps_point.altitude, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84,
	position.z, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84,

[kminoda]

Thank you, fixed in 34273a8