Run Autoware Universe with only 1 lidar

[lhakim85]

Is there possible to run autoware universe with only 1 lidar, as I see architecture here, the configuration is on multi lidar

[lhakim85]

I try to run the sensing part only on 1 lidar, and edit lidar.lunch.xml, below is the edited file
lidar.lunch.xml

When I launch lidar.launch.xml, i get this error
[component_container-1] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist [component_container-1] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp [component_container-1] [ERROR] [1663221599.339065921] [lidar.top.crop_box_filter_self]: [input_indices_callback] timeout tf: velodyne_top->base_link
full error log is here

Any idea?

[lhakim85]

manage to run with 1 lidar, need to launch_vehicle to true also, as inside this has the robot_state_publisher.
Another question,

1. How to visualize raw pointcloud to autoware rviz
2. For the perception, which topic do i need to feed to perception module if using single lidar, outlier_filter or /rectified/pointcloud - what are diff between this 2 topic?