refactor(map_projection_loader): make important part a library (#5992)

* refactor(map_projection_loader): make important part a library Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * fix: add const Signed-off-by: kminoda <[email protected]> * fix: fix function arguments Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jan 9, 2024 · f693b04 · f693b04
1 parent 599aea0
commit f693b04
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Showing 2 changed files with 31 additions and 16 deletions.
diff --git a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp b/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp
@@ -23,6 +23,8 @@
 #include <string>
 
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename);
+tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
+  const std::string & yaml_filename, const std::string & lanelet2_map_filename);
 
 class MapProjectionLoader : public rclcpp::Node
 {

diff --git a/map/map_projection_loader/src/map_projection_loader.cpp b/map/map_projection_loader/src/map_projection_loader.cpp
@@ -20,6 +20,7 @@
 
 #include <yaml-cpp/yaml.h>
 
+#include <filesystem>
 #include <fstream>
 
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename)
@@ -55,28 +56,40 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & fi
   return msg;
 }
 
-MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader")
+tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
+  const std::string & yaml_filename, const std::string & lanelet2_map_filename)
 {
-  std::string yaml_filename = this->declare_parameter<std::string>("map_projector_info_path");
-  std::string lanelet2_map_filename = this->declare_parameter<std::string>("lanelet2_map_path");
-  std::ifstream file(yaml_filename);
-
   tier4_map_msgs::msg::MapProjectorInfo msg;
 
-  bool use_yaml_file = file.is_open();
-  if (use_yaml_file) {
-    RCLCPP_INFO(this->get_logger(), "Load %s", yaml_filename.c_str());
+  if (std::filesystem::exists(yaml_filename)) {
+    std::cout << "Load " << yaml_filename << std::endl;
     msg = load_info_from_yaml(yaml_filename);
-  } else {
-    RCLCPP_INFO(this->get_logger(), "Load %s", lanelet2_map_filename.c_str());
-    RCLCPP_WARN(
-      this->get_logger(),
-      "DEPRECATED WARNING: Loading map projection info from lanelet2 map may soon be deleted. "
-      "Please use map_projector_info.yaml instead. For more info, visit "
-      "https://github.com/autowarefoundation/autoware.universe/blob/main/map/map_projection_loader/"
-      "README.md");
+  } else if (std::filesystem::exists(lanelet2_map_filename)) {
+    std::cout << "Load " << lanelet2_map_filename << std::endl;
+    std::cout
+      << "DEPRECATED WARNING: Loading map projection info from lanelet2 map may soon be deleted. "
+         "Please use map_projector_info.yaml instead. For more info, visit "
+         "https://github.com/autowarefoundation/autoware.universe/blob/main/map/"
+         "map_projection_loader/"
+         "README.md"
+      << std::endl;
     msg = load_info_from_lanelet2_map(lanelet2_map_filename);
+  } else {
+    throw std::runtime_error(
+      "No map projector info files found. Please provide either "
+      "map_projector_info.yaml or lanelet2_map.osm");
   }
+  return msg;
+}
+
+MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader")
+{
+  const std::string yaml_filename = this->declare_parameter<std::string>("map_projector_info_path");
+  const std::string lanelet2_map_filename =
+    this->declare_parameter<std::string>("lanelet2_map_path");
+
+  const tier4_map_msgs::msg::MapProjectorInfo msg =
+    load_map_projector_info(yaml_filename, lanelet2_map_filename);
 
   // Publish the message
   const auto adaptor = component_interface_utils::NodeAdaptor(this);