Forward port 63 incremental load vrt

[Ryanf55]

Purpose

Forward port #63 which demonstrates incrementally loading terrain data from a VRT file, reprojecting it, and loading it onto a single RVIZ map

TODO

• Figure out rviz configuration errors:

Perhaps we need to declare a dependency on mav_planning_rviz?

• Figure out why it crashes while running:

$ ros2 launch grid_map_geo run_terrain_loader.launch.xml visualization:=false
[INFO] [launch]: All log files can be found below /home/ryan/.ros/log/2024-11-30-16-31-49-198699-ryan-thinkpad-51242
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [terrain_loader-1]: process started with pid [51249]
[terrain_loader-1] Loading VRT Map:
[terrain_loader-1]   - map_center_wgs84:46.8142 9.83942       0
[terrain_loader-1] 
[terrain_loader-1] Loading GeoTIFF file for gridmap
[terrain_loader-1] 
[terrain_loader-1] Wkt ProjectionRef: GEOGCS["WGS 84",DATUM["WGS_1984",SPHEROID["WGS 84",6378137,298.257223563,AUTHORITY["EPSG","7030"]],AUTHORITY["EPSG","6326"]],PRIMEM["Greenwich",0,AUTHORITY["EPSG","8901"]],UNIT["degree",0.0174532925199433,AUTHORITY["EPSG","9122"]],AXIS["Latitude",NORTH],AXIS["Longitude",EAST],AUTHORITY["EPSG","4326"]]
[terrain_loader-1] Width: 1296001 Height: 604801 Resolution: 0.000277778
[terrain_loader-1] length: 0.499722 0.499722
[terrain_loader-1] terrain_loader: /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:273: void Eigen::PlainObjectBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 3, 1>; Eigen::Index = long int]: Assertion `(!(RowsAtCompileTime!=Dynamic) || (rows==RowsAtCompileTime)) && (!(ColsAtCompileTime!=Dynamic) || (cols==ColsAtCompileTime)) && (!(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic) || (rows<=MaxRowsAtCompileTime)) && (!(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic) || (cols<=MaxColsAtCompileTime)) && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."' failed.
[ERROR] [terrain_loader-1]: process has died [pid 51249, exit code -6, cmd '/home/ryan/Dev/grid_map_ws/install/grid_map_geo/lib/grid_map_geo/terrain_loader --ros-args -r __node:=terrain_loader --params-file /tmp/launch_params_e0odo1x8'].

[Jaeyoung-Lim]

Thanks!

We should actually remove the mav_planning_rviz from the rviz config file, since it is only for terrain_navigation