Feat: Add PCD to MGRS conversion service (/convert_mgrs) - #24
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| gnss_stat_utm.y = point.y + map_origin_northing; | ||
| gnss_stat_utm.z = point.z + map_origin_height; | ||
| gnss_stat_utm.coordinate_system = CoordinateSystem::UTM; | ||
| gnss_stat_utm.zone = 35; |
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When the map origin is in any UTM zone other than 35, the service reverses the configured easting/northing through zone 35 and then emits an MGRS code for the wrong part of the world, so the converted map is geographically displaced. Since common/Northing and common/Easting are configurable but the zone/hemisphere are not, load these with the origin parameters or derive them from a lat/lon origin instead of hard-coding this value.
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| std::string input_pcd = saveDirectory + sequence + "/final_map_lidar.pcd"; | ||
| std::string output_pcd = saveDirectory + sequence + "/final_map_lidar_mgrs.pcd"; |
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When save_directory is configured without a trailing slash, including the LoadRosParams default, DataSaver normalizes the base path before writing final_map_lidar.pcd, but this service concatenates the raw saveDirectory and sequence. In that configuration /save_map writes under <base>/<sequence>/... while /convert_mgrs looks under <base><sequence>/..., so conversion fails even though the map was saved successfully.
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Overview This PR introduces a new ROS service to convert the final generated Point Cloud Data (PCD) map from local UTM coordinates to the Military Grid Reference System (MGRS).
Key Changes
New ROS Service (/convert_mgrs): Added a service in MSMapping that triggers the conversion of final_map_lidar.pcd and outputs the result as final_map_lidar_mgrs.pcd.
Coordinate Conversion Module: Introduced utm_to_mgrs_converter.cpp/h to handle robust transformations using GeographicLib.
Accurate Altitude Adjustments: Integrated GeographicLib::Geoid (egm2008-1) to convert heights from ellipsoid to orthometric during the transformation process.
Point-by-Point Processing: The converter reads the input PCD file, translates local UTM points to global UTM (using map origin offsets), calculates latitude/longitude, and converts them down to high-precision MGRS coordinates.
Credits: https://github.com/leo-drive/pc_utm_to_mgrs_converter