Fix map matching with AltitudeUnknown (#75)

* Fix map matching with AltitudeUnknown
* Remove Ubuntu 16.04 support and use PROJ from Ubuntu

Author: berndgassmann

.github/workflows/build_test.yml

@@ -11,53 +11,6 @@ env:
   BUILDCMD: "colcon build --event-handlers console_direct+ --executor sequential --cmake-args -DBUILD_HARDENING=ON -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDING=ON -DPYTHON_BINDING_VERSION=${PYTHON_BINDING_VERSION} && colcon test --event-handlers console_direct+ --packages-select ad_map_access ad_physics && colcon test-result"
 
 jobs:
-  ubuntu16job:
-    name: Ubuntu 16.04
-    runs-on: ubuntu-16.04
-
-    strategy:
-      matrix:
-       include:
-         - compiler: gcc5
-           EXTRA_PACKAGES: ""
-           CC: ""
-           CXX: ""
-           PYTHON_BINDING_VERSION: "2.7"
-         - compiler: gcc6
-           EXTRA_PACKAGES: g++-6
-           CC: /usr/bin/gcc-6
-           CXX: /usr/bin/g++-6
-           PYTHON_BINDING_VERSION: "2.7"
-         - compiler: clang5
-           EXTRA_PACKAGES: clang-5.0
-           CC: /usr/bin/clang-5.0
-           CXX: /usr/bin/clang++-5.0
-           PYTHON_BINDING_VERSION: "2.7"
-         - compiler: clang6
-           EXTRA_PACKAGES: clang-6.0
-           CC: /usr/bin/clang-6.0
-           CXX: /usr/bin/clang++-6.0
-           PYTHON_BINDING_VERSION: "2.7"
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-          submodules: true
-
-    - name: Install Dependencies
-      run: bash .github/workflows/install_dependencies.sh
-
-    - name: Build and Test
-      env:
-          CC: ${{ matrix.CC }}
-          CXX: ${{ matrix.CXX }}
-          EXTRA_PACKAGES: ${{ matrix.EXTRA_PACKAGES }}
-          PYTHON_BINDING_VERSION: ${{ matrix.PYTHON_BINDING_VERSION }}
-      run: |
-        sudo apt-get install ${EXTRA_PACKAGES}
-        rm -rf log build install
-        eval CC=${CC} CXX=${CXX} ${BUILDCMD}
-
   ubuntu18job:
     name: Ubuntu 18.04
     runs-on: ubuntu-18.04

.github/workflows/check_documentation.yml

@@ -10,7 +10,7 @@ jobs:
   documentationjob:
 
     name: Build and Test Documentation
-    runs-on: ubuntu-16.04
+    runs-on: ubuntu-20.04
 
     steps:
     - uses: actions/checkout@v2

.github/workflows/wheels.yml

@@ -25,8 +25,14 @@ jobs:
         with:
           fetch-depth: 1
           submodules: true
+      - name: Prepare PROJ
+        run: |
+          git clone --depth=1 -b 4.9.3 https://github.com/OSGeo/PROJ.git dependencies/PROJ
       - name: Build wheels
+        shell: bash
         run: |
+          colcon build --packages-select PROJ4 --event-handlers console_direct+ --cmake-args -DCMAKE_POSITION_INDEPENDENT_CODE=ON
+          source install/setup.bash
           colcon build --packages-up-to ad_map_access --meta colcon_python.meta --event-handlers console_direct+ --cmake-args -DPYTHON_BINDING_VERSION=${PYTHON_BINDING_VERSION}
       - name: Repair wheels
         shell: bash

.github/workflows/wheels/docker/Dockerfile

@@ -16,7 +16,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   autoconf \
   automake \
   castxml \
-  libpugixml-dev && \
+  libpugixml-dev \
+  libproj-dev && \
   rm -rf /var/lib/apt/lists/*
 
 RUN \

.gitignore

@@ -1,4 +1,5 @@
 /build/
 /install/
 /log/
-
+__pycache__/
+*\.pyc

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "dependencies/spdlog"]
 	path = dependencies/spdlog
 	url = https://github.com/gabime/spdlog.git
-[submodule "dependencies/PROJ"]
-	path = dependencies/PROJ
-	url = https://github.com/OSGeo/PROJ.git

README.md

@@ -67,20 +67,16 @@ To download the library, you may run:
 ```
 
 #### Supported systems <a name="systems"></a>
-Development systems are Ubuntu 18.04 and Ubuntu 20.04. The use of Ubuntu 16.04 is no longer recommended, and support will end with the next release.
+Development systems are Ubuntu 18.04 and Ubuntu 20.04.
 Following compiler combinations are [tested continously](https://github.com/carla-simulator/map/blob/master/.travis.yml):
 
-|                 | Ubuntu 16.04 | Ubuntu 18.04 | Ubuntu 20.04 |
-|:---------------:|:------------:|:------------:|:------------:|
-|  Clang 5.0      |  deprecated  |              |              |
-|  Clang 6.0      |  deprecated  |              |              |
-|  Clang 7        |              |       x      |              |
-|  Clang 8        |              |       x      |              |
-|   GCC 5         |  deprecated  |              |              |
-|   GCC 6         |  deprecated  |              |              |
-|   GCC 7         |              |       x      |              |
-|   GCC 8         |              |       x      |              |
-|   GCC 9         |              |       x      |       x      |
+|                 | Ubuntu 18.04 | Ubuntu 20.04 |
+|:---------------:|:------------:|:------------:|
+|  Clang 7        |       x      |              |
+|  Clang 8        |       x      |              |
+|   GCC 7         |       x      |              |
+|   GCC 8         |       x      |              |
+|   GCC 9         |       x      |       x      |
 
 Important: cmake is required to be at least version 3.5!