How to add PointXYZI type support for autoware_pointcloud_preprocessor

[felixf4xu]

Hi,

I'd like to check how to add PointXYZI type support for autoware_pointcloud_preprocessor.

I'm using RoboSense rs-ruby-80 lidar, which supports XYZI and XYZIRT formats as documented at https://github.com/RoboSense-LiDAR/rslidar_sdk?tab=readme-ov-file#12-point-type-supported

XYZI - x, y, z, intensity
XYZIRT - x, y, z, intensity, ring, timestamp

But in autoware_pointcloud_preprocessor, only PointXYZIRC and PointXYZIRADRT are supported, even PointXYZI is treated as error:

    if (utils::is_data_layout_compatible_with_point_xyzi(*cloud)) {
      RCLCPP_ERROR(
        get_logger(),
        "The pointcloud layout is compatible with PointXYZI. You may be using legacy "
        "code/data");
    }

So I'd like to check how to convert XYZIRT to XYZIRC

"C" (channel) in XYZIRC is like robosence "R" (ring), so it's available.
then "R" in XYZIRC is return type, which is configured as "Strong" (on robosense lidar's web config page), so it is "SINGLE_STRONGEST"?

In that case, where is the best place to convert the data type?

[amadeuszsz]

Hi @felixf4xu,
This format is because some components process raw data with a specific field format in mind.

As you might noticed, our sensor driver does not support your sensor yet. For now, to overcome issues with incompatible fields format, Autoware users usually write ROS node which converts sensor's data into compatible format.

sensor driver --> data conversion node --> Autoware

However, if it will cause high latency in your sensing pipeline, you might need to consider changes in sensor's driver directly.

[liuXinGangChina]

Morning, Xu @felixf4xu

In the age of autoware.ai, developer don't need to do much work to integrate their lidar
While in autoware universe, consider making autoware more robust, more data field like ring and return-info are used

The most easiest way to make your real vehicle move is to follow Szymko @amadeuszsz san's suggestion to make a manual converter

Feel free to contact me. we are happy to help chinese autoware developers, since we are the co-founder of Autoware Foundation and it is our duty to make more use it

I base in 南京，not far away from you

Happy hacking

心刚

[felixf4xu]

Thanks, but I still don't quite understand the reason why XYZI is not supported.

It's is fine to support XYZIRC and XYZIRADRT, but I hope XYZI is also supported since it's the base format.

It should not be treated as an error for XYZI format.

[liuXinGangChina]

Hello @felixf4xu

It‘s not surprising that you don’t get the point behind the change of Autoware‘s input pointcloud format, it will take you some time to dig into the code.

So far, the most efficient way to run your autoware vehicle is following Szymko san's @amadeuszsz suggestion to make a manual converter.

In order to unleash full power of autoware, better modify lidar driver , adding missing field to the output pointcloud.

Happy hacking

心刚