refactor(autoware_map_msgs): modify pcd metadata msg (#96)

Signed-off-by: Yamato Ando <[email protected]>

Author: YamatoAndo

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"

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.

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

autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg

@@ -1,5 +1,4 @@
-# Pointcloud data with ID
+# Pointcloud with metadata
 
-string cell_id
 sensor_msgs/PointCloud2 pointcloud
 PointCloudMapCellMetaData metadata

autoware_map_msgs/msg/PointCloudMapCellWithID.msg autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg

@@ -1,4 +1,4 @@
 # Header
 std_msgs/Header header
 
-PointCloudMapCellMetaDataWithID[] metadata_list
+PointCloudMapCellMetaData[] metadata_list

autoware_map_msgs/msg/PointCloudMapMetaData.msg

@@ -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

autoware_map_msgs/srv/GetDifferentialPointCloudMap.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

autoware_map_msgs/srv/GetPartialPointCloudMap.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