LiDAR launch. The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC.

[lostDeers]

I have configured a third party LiDAR to autoware. Refer to #4700 , I changed the topic name to my own LiDAR's pointcloud publishing topic in tier4_localization_component.launch.xml and disabled autoware_pointcloud_preprocessor in my lidar.launch.xml, but I met this error.

[component_container_mt-1] [ERROR] [1723099328.661306310] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting

Here is the fields list from my pointcloud topic (using ros2 topic echo).

header:
  stamp:
    sec: useless
    nanosec: useless
  frame_id: lidar_link
height: 1
width: 26156
fields:
- name: x
  offset: 0
  datatype: 7
  count: 1
- name: y
  offset: 4
  datatype: 7
  count: 1
- name: z
  offset: 8
  datatype: 7
  count: 1
- name: intensity
  offset: 16
  datatype: 2
  count: 1
- name: return_type
  offset: 17
  datatype: 2
  count: 1
- name: channel
  offset: 18
  datatype: 4
  count: 1
- name: azimuth
  offset: 20
  datatype: 7
  count: 1
- name: elevation
  offset: 24
  datatype: 7
  count: 1
- name: distance
  offset: 28
  datatype: 7
  count: 1
- name: time_stamp
  offset: 32
  datatype: 6
  count: 1
is_bigendian: false
point_step: 48
row_step: 1255488
data:
(useless)
is_dense: true
---

I have read #5038 and checked is_data_layout_compatible_with_point_xyzircaedt but I found nothing uncompatible.

What cause this problem and how to solve it?

[amadeuszsz]

Hi @lostDeers
I think offsets should be 0, 4, 8, 12, 13, 14, 16, 20, 24, 28 Also point_step should be 32, but it's not validated in node. This check still takes a place because Localization component uses crop box filter from autoware_pointcloud_preprocessor package.

[chaitanya1844]

[chaitanya1844]

lidar_data.txt

[lostDeers]

In your pointcloud, I notice some mistakes. point_step should be 32. This reflects the length of your data but yours is 22.It seems your data have no enough fields.
You can find more compatible pointcloud layouts from here.
By the way, I use xyziradrt layout finally.

[chaitanya1844]

how do u change the layout of the lidar data ? by custom scripts?

Btw thanks for answering all these queries

[lostDeers]

I modified the driver of my lidar device, refer to VLP-32 driver in autoware's repo.