Empty topic /vehicle/status/velocity_status in Bus ODD rosbags

[ZDZhang114514]

Hello,

I'm new to autoware.universe. I'm trying to launch and test the distortion_corrector_node from package autoware_pointcloud_preprocessor. Since the velocity status is required, I downloaded the ros2 bag all-sensors-bag1_compressed from and used it for testing. However, I noticed that the ros2 topic /vehicle/status/velocity_status contains no information. Here is the output of the command ros2 bag info:

• Topic: /vehicle/status/velocity_status | Type: autoware_auto_vehicle_msgs/msg/VelocityReport | Count: 0 | Serialization Format: cdr

Then I checked another bag named driving_20_kmh_2022_06_10-16_01_55_compressed. It has velocity status but no /tf or /tf_static topics. I've checked all the ros2 bags provided on this page and no ros2 bag has tf information, velocity status and lidar scan at the same time.

I'm not sure if I'm using the wrong version of the bags or the Bus ODD dataset is not appropriate for the testing of distortion_corrector_node?

Really appreciate for your help.

[ZDZhang114514]

Really sorry that I missed the link to the website. It is https://autowarefoundation.github.io/autoware-documentation/main/datasets/#bus-odd-operational-design-domain-datasets