feat(autoware_map_loader): add support of GetSelectedLanelet2Map service

[mitsudome-r]

Description

This must be merged after #888.
This must be merged with autowarefoundation/autoware_launch#1813.

This PR adds GetSelectedLanelet2Map service interface to map_loader to enable dynamic map loading.
This is done by adding Lanelet2SelectedMapLoaderModule class to lanelet2_map_loader, just like pointcloud_map_loader.

Related links

Parent Issue:

• Implement Differential Map Loading feature for lanelet2 map #887

How was this PR tested?

Preparation

• Update autoware_core to this branch and build autoware workspace
• Prepare Lanelet2 Map with single lanelet2_map.osm file
  
• Prepare Lanelet2 Map with multiple lanelet2_map.osm files

Test Case 1

Make sure the map loader can load with the single file map when enable_selected_map_loading=false. (Regression Check)

1. set enable_selected_map_loading to false in map/autoware_map_loader/config/lanelet2_map_loader.param.yaml

2. Launch autoware_map_loader with the following commands using 3 terminals. (You will see error from map_hash_generator due to no pcd map, but you can ignore it for now.)

# Terminal 1: launch autoware_map_projection_loader
ros2 launch autoware_map_projection_loader map_projection_loader.launch.xml map_projector_info_path:=$HOME/autoware_data/maps/Shinjuku-Map/map_projector_info.yaml lanelet2_map_path:="''"

# Terminal 2: launch autoware_map_loader
ros2 launch autoware_map_loader lanelet2_map_loader.launch.xml \
  lanelet2_map_path:=$HOME/autoware_data/maps/Shinjuku-Multi-Map/lanelet2_map.osm \
  metadata_file_path:=$HOME/autoware_data/maps/Shinjuku-Multi-Map/lanelet2_map_metadata.yaml

# Terminal 3: Check ros node info
ros2 node info /lanelet2_map_loader

5. Make sure that you see lanelet2_map_loader launched with the following node info (no service/get_selected_lanelet2_map service)

/lanelet2_map_loader
  Subscribers:
    /map/map_projector_info: autoware_map_msgs/msg/MapProjectorInfo
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /map/vector_map: autoware_map_msgs/msg/LaneletMapBin
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /lanelet2_map_loader/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /lanelet2_map_loader/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /lanelet2_map_loader/get_parameters: rcl_interfaces/srv/GetParameters
    /lanelet2_map_loader/list_parameters: rcl_interfaces/srv/ListParameters
    /lanelet2_map_loader/set_parameters: rcl_interfaces/srv/SetParameters
    /lanelet2_map_loader/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically

Test Case 2

Make sure the map loader can load the single file map when enable_selected_map_loading=true. (No metadata file required)

1. set enable_selected_map_loading to true in map/autoware_map_loader/config/lanelet2_map_loader.param.yaml

2. Launch the same commands from Test Case 1

3. Make sure that you see lanelet2_map_loader launched with the following node info (with service/get_selected_lanelet2_map service)

/lanelet2_map_loader
  ...
  Publishers:
    /map/vector_map: autoware_map_msgs/msg/LaneletMapBin
    /output/lanelet2_map_metadata: autoware_map_msgs/msg/LaneletMapMetaData
  ...
  Service Servers:
    /service/get_selected_lanelet2_map: autoware_map_msgs/srv/GetSelectedLanelet2Map

Test Case 3

Make sure the map loader can load the muliple lanelet2 maps when enable_selected_map_loading=true.

1. set enable_selected_map_loading to true in map/autoware_map_loader/config/lanelet2_map_loader.param.yaml

2. Launch the following commands:

# Terminal 1: launch autoware_map_projection_loader
ros2 launch autoware_map_projection_loader map_projection_loader.launch.xml map_projector_info_path:=$HOME/autoware_data/maps/Shinjuku-Map/map_projector_info.yaml lanelet2_map_path:="''"

# Terminal 2: launch autoware_map_loader
ros2 launch autoware_map_loader lanelet2_map_loader.launch.xml \
  lanelet2_map_path:=$HOME/autoware_data/maps/Shinjuku-Multi-Map/lanelet2_map.osm \
  metadata_file_path:=$HOME/autoware_data/maps/Shinjuku-Multi-Map/lanelet2_map_metadata.yaml

# Terminal 3: Check ros node info
ros2 node info /lanelet2_map_loader

3. Confirm that you see service/get_selected_lanelet2_map service from the node.

Test Case 4

Make sure that the node fails to load multiple lanelet2 maps files when metadata file is not provided regardless of enable_selected_map_loading option

2. Launch the following commands:

# Terminal 1: launch autoware_map_projection_loader
ros2 launch autoware_map_projection_loader map_projection_loader.launch.xml map_projector_info_path:=$HOME/autoware_data/maps/Shinjuku-Map/map_projector_info.yaml lanelet2_map_path:="''"

# Terminal 2: launch autoware_map_loader
ros2 launch autoware_map_loader lanelet2_map_loader.launch.xml \
  lanelet2_map_path:=$HOME/autoware_data/maps/Shinjuku-Multi-Map/lanelet2_map.osm \
  metadata_file_path:="''"

# Terminal 3: Check ros node info
ros2 node info /lanelet2_map_loader

3. Confirm that you lanelet2_map_loader fails with the following error:

[autoware_lanelet2_map_loader-2] terminate called after throwing an instance of 'std::runtime_error'
[autoware_lanelet2_map_loader-2]   what():  Lanelet2 metadata file not found: 
[ERROR] [autoware_lanelet2_map_loader-2]: process has died [pid 1657887, exit code -6, cmd '/home/mitsudome-r/autoware_lanelet2_map_differential/install/autoware_map_loader/lib/autoware_map_loader/autoware_lanelet2_map_loader --ros-args -r __node:=lanelet2_map_loader --params-file /tmp/launch_params__afz3vt7 -r output/lanelet2_map:=vector_map'].

Notes for reviewers

None.

Interface changes

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Publisher	output/lanelet2_map_metadata	autoware_map_msgs/msg/LaneletMapMetaData	Publishes per-cell bounding-box metadata with transient-local durability (only when enable_selected_map_loading is true)
Added	Service	service/get_selected_lanelet2_map	autoware_map_msgs/srv/GetSelectedLanelet2Map	Loads and returns merged lanelet2 map cells for the requested cell IDs (only when enable_selected_map_loading is true)

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	enable_selected_map_loading	bool	false	Expose service/get_selected_lanelet2_map service and publish cell metadata
Added	metadata_file_path	string	""	Path to lanelet2_map_metadata.yaml; if empty or missing, bounding boxes are computed from map points

Effects on system behavior

None.

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[codecov]

Codecov Report

❌ Patch coverage is 72.22222% with 25 lines in your changes missing coverage. Please review.
✅ Project coverage is 61.34%. Comparing base (8e2974f) to head (280ed01).

Files with missing lines	Patch %	Lines
...c/lanelet2_map_loader/lanelet2_map_loader_node.cpp	17.64%	4 Missing and 10 partials ⚠️
...map_loader/lanelet2_selected_map_loader_module.cpp	82.00%	1 Missing and 8 partials ⚠️
...lanelet2_map_loader/lanelet2_map_cell_metadata.cpp	95.45%	0 Missing and 1 partial ⚠️
...lanelet2_map_loader/lanelet2_map_cell_metadata.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #889      +/-   ##
==========================================
+ Coverage   60.55%   61.34%   +0.79%     
==========================================
  Files         427      419       -8     
  Lines       25472    24301    -1171     
  Branches    12042    11742     -300     
==========================================
- Hits        15425    14908     -517     
- Misses       7089     7836     +747     
+ Partials     2958     1557    -1401     

Flag	Coverage Δ		*Carryforward flag
daily-humble	66.65% <ø> (-0.53%)	⬇️	Carriedforward from fa9710d
daily-jazzy	66.70% <ø> (-0.51%)	⬇️	Carriedforward from fa9710d
differential-humble	16.22% <70.00%> (-39.62%)	⬇️
differential-jazzy	16.14% <70.78%> (-39.66%)	⬇️
total	50.25% <ø> (ø)		Carriedforward from fa9710d
total-humble	66.74% <ø> (-0.45%)	⬇️	Carriedforward from fa9710d
total-humble-agnocast	66.52% <ø> (+0.01%)	⬆️	Carriedforward from fa9710d
total-jazzy	66.78% <ø> (-0.43%)	⬇️	Carriedforward from fa9710d
total-jazzy-agnocast	66.58% <ø> (+0.03%)	⬆️	Carriedforward from fa9710d

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[mitsudome-r]

@YamatoAndo The PR is ready for review so could you review the PR?

[YamatoAndo]

It might be preferable to add the following code in

autoware_core/map/autoware_core_map/launch/autoware_core_map.launch.xml

Lines 1 to 6 in 3a20e7e

	<launch>
	<!-- map files -->
	<arg name="lanelet2_map_path"/>
	<arg name="map_projector_info_path"/>
	<arg name="pointcloud_map_path"/>
	<arg name="pointcloud_map_metadata_path"/>

  <arg name="lanelet2_map_metadata_path" default="''"/>

[mitsudome-r]

@YamatoAndo Good catch!
I have added the argument according to your suggestion.

[sasakisasaki]

As I observed the following error in CI build, I updated the branch.

/__w/autoware_core/autoware_core/dependency_ws/autoware/autoware_universe/perception/autoware_multi_object_tracker/src/debugger/debugger.hpp:22:10: fatal error: autoware/agnocast_wrapper/diagnostic_updater.hpp: No such file or directory
   22 | #include <autoware/agnocast_wrapper/diagnostic_updater.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

[sasakisasaki]

Reviewed. Though adding tests might be separated as another PR. Personally I agree with merging this PR.

After merging this PR, there will be room for refactoring such as two logic separation: application logic and ROS logic.

[sasakisasaki]

(Not a change request, just note to myself) Perhaps this header does not need to be public. We can make this header private I guess.

[sasakisasaki]

@autowarefoundation/autoware-global-codeowners @YamatoAndo Could you kindly review this PR please? 😉

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