feat(map_loader): use dummy projector when using local coordinates (a…

…utowarefoundation#5866)

* feat(map_loader): use dummy projector when using local coordinates

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix build warning

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix runtime error

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix reverse function

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp

@@ -0,0 +1,41 @@
+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_
+#define LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_
+
+#include <lanelet2_io/Projection.h>
+
+namespace lanelet::projection
+{
+
+class LocalProjector : public Projector
+{
+public:
+  LocalProjector() : Projector(Origin(GPSPoint{})) {}
+
+  BasicPoint3d forward(const GPSPoint & gps) const override  // NOLINT
+  {
+    return BasicPoint3d{0.0, 0.0, gps.ele};
+  }
+
+  GPSPoint reverse(const BasicPoint3d & point) const override
+  {
+    return GPSPoint{0.0, 0.0, point.z()};
+  }
+};
+
+}  // namespace lanelet::projection
+
+#endif  // LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_

map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -33,6 +33,8 @@
 
 #include "map_loader/lanelet2_map_loader_node.hpp"
 
+#include "lanelet2_local_projector.hpp"
+
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
@@ -100,8 +102,7 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
       return map;
     }
   } else {
-    // Use MGRSProjector as parser
-    lanelet::projection::MGRSProjector projector{};
+    const lanelet::projection::LocalProjector projector;
     const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors);
 
     // overwrite local_x, local_y