refactor(autoware_map_msgs): modify pcd metadata msg

Signed-off-by: Ryohsuke Mitsudome <[email protected]>
autowarefoundation · Jul 25, 2024 · 61fc0c0 · 61fc0c0
1 parent f3ee114
commit 61fc0c0
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Showing 9 changed files with 12 additions and 17 deletions.
diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt
@@ -7,9 +7,8 @@ ament_auto_find_build_dependencies()
 set(msg_files
   "msg/AreaInfo.msg"
   "msg/LaneletMapBin.msg"
-  "msg/PointCloudMapCellWithID.msg"
   "msg/PointCloudMapCellMetaData.msg"
-  "msg/PointCloudMapCellMetaDataWithID.msg"
+  "msg/PointCloudMapCellWithMetaData.msg"
   "msg/PointCloudMapMetaData.msg"
   "srv/GetPartialPointCloudMap.srv"
   "srv/GetDifferentialPointCloudMap.srv"

diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md
@@ -4,13 +4,13 @@
 
 The message represents an area information. This is intended to be used as a query for partial / differential map loading (see `GetPartialPointCloudMap.srv` and `GetDifferentialPointCloudMap.srv` section).
 
-## PointCloudMapCellWithID.msg
+## PointCloudMapCellMetaData.msg
 
-The message contains a pointcloud data attached with an ID.
+The message contains a pointcloud meta data. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section).
 
-## PointCloudMapCellMetaDataWithID.msg
+## PointCloudMapCellWithMetaData.msg
 
-The message contains a pointcloud meta data attached with an ID. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section).
+The message contains a pointcloud data attached with a metadata.
 
 ## GetPartialPointCloudMap.srv
 
@@ -36,4 +36,4 @@ Let $X_0$ be a set of PCD map ID that the client node has, $X_1$ be a set of PCD
 
 ## GetSelectedPointCloudMap.srv
 
-Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaDataWithID.msg` metadata to retrieve information about IDs.
+Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaData.msg` metadata to retrieve information about IDs.
diff --git a/autoware_map_msgs/msg/PointCloudMapCellMetaData.msg b/autoware_map_msgs/msg/PointCloudMapCellMetaData.msg
@@ -1,5 +1,6 @@
 # Metadata of pointcloud map cell
 
+string cell_id
 float32 min_x
 float32 min_y
 float32 max_x

diff --git a/autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg b/autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg
diff --git a/..._map_msgs/msg/PointCloudMapCellWithID.msg → ...sgs/msg/PointCloudMapCellWithMetaData.msg b/..._map_msgs/msg/PointCloudMapCellWithID.msg → ...sgs/msg/PointCloudMapCellWithMetaData.msg
@@ -1,5 +1,4 @@
-# Pointcloud data with ID
+# Pointcloud with metadata
 
-string cell_id
 sensor_msgs/PointCloud2 pointcloud
 PointCloudMapCellMetaData metadata
diff --git a/autoware_map_msgs/msg/PointCloudMapMetaData.msg b/autoware_map_msgs/msg/PointCloudMapMetaData.msg
@@ -1,4 +1,4 @@
 # Header
 std_msgs/Header header
 
-PointCloudMapCellMetaDataWithID[] metadata_list
+PointCloudMapCellMetaData[] metadata_list
diff --git a/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv b/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv
@@ -10,7 +10,7 @@ string[] cached_ids
 std_msgs/Header header
 
 # Newly loaded PCD maps with ID
-PointCloudMapCellWithID[] new_pointcloud_with_ids
+PointCloudMapCellWithMetaData[] new_pointcloud_cells
 
 # Map IDs that the client side should remove
 string[] ids_to_remove
diff --git a/autoware_map_msgs/srv/GetPartialPointCloudMap.srv b/autoware_map_msgs/srv/GetPartialPointCloudMap.srv
@@ -7,4 +7,4 @@ AreaInfo area
 std_msgs/Header header
 
 # Newly loaded PCD maps with ID
-PointCloudMapCellWithID[] new_pointcloud_with_ids
+PointCloudMapCellWithMetaData[] new_pointcloud_cells
diff --git a/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv b/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv
@@ -6,4 +6,4 @@ string[] cell_ids
 std_msgs/Header header
 
 # Newly loaded PCD maps with ID
-PointCloudMapCellWithID[] new_pointcloud_with_ids
+PointCloudMapCellWithMetaData[] new_pointcloud_cells