feat(autoware_gnss_poser): porting from universe to core, autoware_gn…

…ss_poser, remove package dependency to <autoware_component_interface_specs> which is under universe repo: v0.2

Signed-off-by: liuXinGangChina <[email protected]>

sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp

@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 
-#include <autoware/component_interface_specs/map.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_sensing_msgs/msg/gnss_ins_orientation_stamped.hpp>
@@ -46,9 +46,7 @@ class GNSSPoser : public rclcpp::Node
   explicit GNSSPoser(const rclcpp::NodeOptions & node_options);
 
 private:
-  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
-
-  void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
+  void callback_map_projector_info(const autoware_map_msgs::msg::MapProjectorInfo::ConstSharedPtr msg);
   void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr);
   void callback_gnss_ins_orientation_stamped(
     const autoware_sensing_msgs::msg::GnssInsOrientationStamped::ConstSharedPtr msg);
@@ -78,7 +76,7 @@ class GNSSPoser : public rclcpp::Node
   tf2_ros::TransformListener tf2_listener_;
   tf2_ros::TransformBroadcaster tf2_broadcaster_;
 
-  rclcpp::Subscription<MapProjectorInfo::Message>::SharedPtr sub_map_projector_info_;
+  rclcpp::Subscription<autoware_map_msgs::msg::MapProjectorInfo>::SharedPtr sub_map_projector_info_;
   rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr nav_sat_fix_sub_;
   rclcpp::Subscription<autoware_sensing_msgs::msg::GnssInsOrientationStamped>::SharedPtr
     autoware_orientation_sub_;
@@ -87,7 +85,7 @@ class GNSSPoser : public rclcpp::Node
   rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_cov_pub_;
   rclcpp::Publisher<autoware_internal_debug_msgs::msg::BoolStamped>::SharedPtr fixed_pub_;
 
-  MapProjectorInfo::Message projector_info_;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info_;
   const std::string base_frame_;
   const std::string gnss_base_frame_;
   const std::string map_frame_;

sensing/autoware_gnss_poser/package.xml

@@ -20,7 +20,7 @@
 
   <build_depend>libboost-dev</build_depend>
 
-  <depend>autoware_component_interface_specs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_geography_utils</depend>
   <depend>autoware_sensing_msgs</depend>
   <depend>geographic_msgs</depend>

sensing/autoware_gnss_poser/src/gnss_poser_node.cpp

@@ -39,8 +39,8 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   gnss_pose_pub_method_(static_cast<int>(declare_parameter<int>("gnss_pose_pub_method")))
 {
   // Subscribe to map_projector_info topic
-  sub_map_projector_info_ = create_subscription<MapProjectorInfo::Message>(
-    MapProjectorInfo::name, rclcpp::QoS{1},
+  sub_map_projector_info_ = create_subscription<autoware_map_msgs::msg::MapProjectorInfo>(
+    "/map/map_projector_info", rclcpp::QoS{1},
     std::bind(&GNSSPoser::callback_map_projector_info, this, std::placeholders::_1));
 
   // Set up position buffer
@@ -68,7 +68,7 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   msg_gnss_ins_orientation_stamped_->orientation.rmse_rotation_z = 1.0;
 }
 
-void GNSSPoser::callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg)
+void GNSSPoser::callback_map_projector_info(const autoware_map_msgs::msg::MapProjectorInfo::ConstSharedPtr msg)
 {
   projector_info_ = *msg;
   received_map_projector_info_ = true;
@@ -86,7 +86,7 @@ void GNSSPoser::callback_nav_sat_fix(
     return;
   }
 
-  if (projector_info_.projector_type == MapProjectorInfo::Message::LOCAL) {
+  if (projector_info_.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL) {
     RCLCPP_ERROR_THROTTLE(
       this->get_logger(), *this->get_clock(), std::chrono::milliseconds(5000).count(),
       "map_projector_info is local projector type. Unable to convert GNSS pose.");
@@ -117,7 +117,7 @@ void GNSSPoser::callback_nav_sat_fix(
   geometry_msgs::msg::Point position =
     autoware::geography_utils::project_forward(gps_point, projector_info_);
   position.z = autoware::geography_utils::convert_height(
-    position.z, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84,
+    position.z, gps_point.latitude, gps_point.longitude, autoware_map_msgs::msg::MapProjectorInfo::WGS84,
     projector_info_.vertical_datum);
 
   geometry_msgs::msg::Pose gnss_antenna_pose{};