feat(autoware_map_msgs): add msg and srv files releated with dynamic …

…lanelet loading (#81) Signed-off-by: Barış Zeren <[email protected]>
autowarefoundation · Sep 29, 2024 · 2ae076e · 2ae076e
1 parent f3ee114
commit 2ae076e
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Showing 4 changed files with 24 additions and 1 deletion.
diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt
@@ -7,13 +7,16 @@ ament_auto_find_build_dependencies()
 set(msg_files
   "msg/AreaInfo.msg"
   "msg/LaneletMapBin.msg"
+  "msg/LaneletMapMetaData.msg"
+  "msg/LaneletMapCellMetaData.msg"
   "msg/PointCloudMapCellWithID.msg"
   "msg/PointCloudMapCellMetaData.msg"
   "msg/PointCloudMapCellMetaDataWithID.msg"
   "msg/PointCloudMapMetaData.msg"
   "srv/GetPartialPointCloudMap.srv"
   "srv/GetDifferentialPointCloudMap.srv"
-  "srv/GetSelectedPointCloudMap.srv")
+  "srv/GetSelectedPointCloudMap.srv"
+  "srv/GetSelectedLanelet2Map.srv")
 
 set(msg_dependencies
   std_msgs

diff --git a/autoware_map_msgs/msg/LaneletMapCellMetaData.msg b/autoware_map_msgs/msg/LaneletMapCellMetaData.msg
@@ -0,0 +1,7 @@
+# Metadata of lanelet map cell
+
+string cell_id
+float64 min_x
+float64 max_x
+float64 min_y
+float64 max_y
diff --git a/autoware_map_msgs/msg/LaneletMapMetaData.msg b/autoware_map_msgs/msg/LaneletMapMetaData.msg
@@ -0,0 +1,4 @@
+# Header
+std_msgs/Header header
+
+LaneletMapCellMetaData[] metadata_list
diff --git a/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv
@@ -0,0 +1,9 @@
+# Osm file ids which are selected to be loaded
+string[] cell_ids
+
+---
+# Header
+std_msgs/Header header
+
+# Newly loaded Lanelet map
+autoware_map_msgs/LaneletMapBin lanelet2_cells