When I start autoware.launch.xml and vehicle_interface with my robot , pointcloud_container falls down.

[asa-naki]

pointcloud_container aborts when running autoware.launch.xml and vehicle_interface on a robot.

By vehicle_velocity_converter node,
/sensing/vehicle_velocity_converter/twist_with_covariance is published.
I ran pointcloud_preprocessor with use_imu set to false so that IMU is not used for distortion_corrector in pointcloud_preprocessor.

"https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/06330e6b07449a3609ced295c0a9ce6a1805ef99/common_sensor_launch/ launch/velodyne_node_container.launch.py#L139-L152" parts
commented out and autoware.launch.xml was run, pointcloud_container did not drop and the pointcloud_raw topic from LiDAR was confirmed.

I am running with VLP16 for LiDAR.

[kminoda]

Hi, thank you for the report!

It would be helpful if you could also share some technical details of your environment, such as version of Autoware (main from awf/autoware?), OS, sensor names, etc.
If you are using the latest awf/autoware, one simple (but a bit troublesome) approach is to find the difference of data in some topics between awf/autoware and your autoware.

Could you also check if the LiDAR pointcloud size is not zero?

[asa-naki]

I checked the topics information from vehicle_ interface. when the vehicle stops, linear and angular velocity value is 0,and frame_id is base_link. I think the value is correct.
I try modifying velodyne_node_container.launch.py without DistortionCorrectorComponent, remapping output topic name of CropBoxFilterComponent,I check the /sensing/lidar/contenaed/pointcloud.
So the DistortionCorrectorComponent process is the reason for the aborting container.

[kminoda]

How about remapping the topic between vehicle_interface and distortion_corrector to something like /dummy?

[asa-naki]

When input twist topic name of distortion_corrector remaps /hoge , pointcloud_container is alive. Also I could see
/sensing/lidar/contenaed/pointcloud

[kminoda]

I found that this line caused the error: https://github.com/autowarefoundation/autoware.universe/blob/642256cc2461d70ce5ab5988012ddae7f8623de3/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp#L225
Thanks for the report! I will fix this.

[kminoda]

@asa-naki Should be OK with this PR: autowarefoundation/autoware.universe#3476