About different brands of LiDAR access

[xcg340122]

I found that there seem to be only some configuration examples of LiDAR for common brands. For new brands, I don't know how to access them. If only ROS topic is used, can't I provide the source of radar data? My current LiDAR data examples:

bylike@bylike-Default-string:~/autoware$ ros2 topic echo /points_raw
header:
  stamp:
    sec: 1735743945
    nanosec: 440771341
  frame_id: lidar_link
height: 1
width: 5366
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: 7
  count: 1
is_bigendian: false
point_step: 32
row_step: 171712
data:
- 38
- 231
- 77
- 192
- 255
- 164
- 215
- 191
- 236
- 117
- 62
- 62
- 255
- 127
- 0
- 0
- 0
- 0
- 96
- 67
- 236
- 87
- 0
- 0
....

rviz show:

The node is transformed into the corresponding perceptual topic:

autoware run error log:

[service_log_checker_node-6] [ERROR] [1735746597.981136748] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/adapi/node/localization)
[service_log_checker_node-6] [ERROR] [1735746597.981268877] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/adapi/node/localization)
[service_log_checker_node-6] [ERROR] [1735746597.981430633] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/default_ad_api/helpers/automatic_pose_initializer)
[component_container_mt-1] [ERROR] [1735746597.982184436] [perception.obstacle_segmentation.crop_box_filter]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[component_container_mt-1] [ERROR] [1735746597.982858896] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[rviz2-68] [INFO] [1735746597.991292821] [rviz2]: Message Filter dropping message: frame 'base_link' at time 1735746596.991 for reason 'discarding message because the queue is full'

[wayne-turing]

Your data format is: x, y, z, intensity.
The system requires using PointXYZIRCAEDT or PointXYZIRC.
It might be worth discussing whether the Lidar provider supports Autoware.

[xcg340122]

In fact, my radar uses a 'no contact brush rotating mirror' scan to achieve point cloud scanning, which means it may not be as sparse as a multi-line radar, but I already know that it has an effective point cloud sampling frequency of 64,000 points per second, which, according to PointXYZIRC's format, may lack ring and channel. I looked up relevant materials, and these two values generally changed little. I converted them to PointXYZIRC format by subscribing to the original message, but similar errors still seemed to be displayed. May I ask what conditions are required to be compatible with autoware framework?

Point cloud format:

bylike@bylike-Default-string:~/autoware$ ros2 topic echo /points_raw
header:
  stamp:
    sec: 1735819833
    nanosec: 33458232
  frame_id: base_link
height: 1
width: 5357
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: 12
  datatype: 7
  count: 1
- name: ring
  offset: 16
  datatype: 4
  count: 1
- name: channel
  offset: 18
  datatype: 4
  count: 1
is_bigendian: false
point_step: 20
row_step: 107140
data:
- 51
- 209
- 244
- 64
- 202
- 138
- 240
- 191
- 58
- 240
- 179
- 62

autoware error log:

[component_container_mt-1] [ERROR] [1735819691.174788739] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[component_container_mt-1] [ERROR] [1735819691.174825674] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is compatible with PointXYZI. You may be using legacy code/data
[rviz2-68] [INFO] [1735819691.189612777] [rviz2]: Message Filter dropping message: frame 'base_link' at time 1735819688.742 for reason 'discarding message because the queue is full'
[component_container_mt-61] [INFO] [1735819691.250720865] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg...
[component_container_mt-1] [ERROR] [1735819691.316824906] [perception.obstacle_segmentation.crop_box_filter]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[component_container_mt-1] [ERROR] [1735819691.316926483] [perception.obstacle_segmentation.crop_box_filter]: The pointcloud layout is compatible with PointXYZI. You may be using legacy code/data

[amadeuszsz]

@xcg340122 your datatypes are wrong, please see docs.

[xcg340122]

@xcg340122 your datatypes are wrong, please see docs.

I've made the switch to the autoware-friendly pandar40p with a sensor kit, but the perception part isn't functioning. Also, I can't find an active community or chat group, and it feels like the response rate here is quite slow.

[amadeuszsz]

but the perception part isn't functioning.

We need more information.

Also, I can't find an active community or chat group, and it feels like the response rate here is quite slow.

You can also try our discord channel. We are happy to help everyone, just be patient.

[mwaiting002]

@xcg340122 您好 请问这个问题解决了吗 我们也遇到了和您类似的问题。