Autoware Sensor Kit - LiDAR Launch pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC

[aemilio-Developer]

Hello! After having made the sensor kit for the vehicle model used and having correctly configured the LiDAR Velodyne VLP16 according to documentation, when starting the sensing part, after correctly displaying the pointcloud raw of the lidar, as soon as the latter is passed as input to be processed by the point_cloud_preprocessor, I encounter the following error “[component_container-5] [ERROR] [1721988143.319286647] [sensing.lidar.front.crop_box_filter_self]: The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting.” What can this be caused by?
LidarSettings.zip
I leave attached the .py file for which the filtering is handled and the correlated launch file.

@knzo25 I'm tagging you because a colleague of yours told me that I could get more info from you, thank you.

[amadeuszsz]

Hi @aemilio-Developer
Recently Autoware changed point types definitions. Please, take a look on nebula driver which is compatible with current Autoware repository. Here you can find more information about your issue.

[aemilio-Developer]

After updating autoware.universe and nebula driver according to last update, issues regarding "“[component_container-5] [ERROR] [1721988143.319286647] [sensing.lidar.front.crop_box_filter_self]: The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting.” are fixed but now it shows me the following message when running sensing part of Autoware:

"[component_container-5] Warning: Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist
[component_container-5] at line 93 in ./src/buffer_core.cpp
"
and

"[component_container-5] [ERROR] [1722327461.802536203] [sensing.lidar.front.crop_box_filter_self]: [get_transform_matrix] timeout tf: velodyne_front->base_link" .

[knzo25]

@aemilio-Developer
This is a completely different issue, so please consider closing this one and opening a new one.
The base_link -> sensor_kit_base_link -> velodyne_top_base_link -> velodyne_top
is usually published by the vehicle description. When in doubt (regarding tf and frames) I recommend using the ros2 run tf2_tools view_frames to understand why your frames are unconnected