HOW TO SYNC VELODYNE ON MY PATH CAN YOU HELP ME

[Minaygt]

• I'am only using VLP-16 LIDAR.
• ubuntu 22.04
• humble
  Hello I'am tried to launch autoware in real time.
  I have edited my lidar_launch.xml file I only use top lidar on vehicle. Also edited some parameters. Lidar looked different in my vehicle before.
  

Now, it's different from before . Like below

Right now I am trying to sync my map and LIDAR for this I changed autoware's sample vehicle sensors, params and this values like below: I can't see VLP16 LIDAR in autoware

- stop_check_enabled: true to false (https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/util/util.launch.xml#L20)

• parameters in vehicle_info.param.yaml

• I deleted topics which is inside the pointcloud_preprocessor.launch.py (these sensing/lidar/left/outlier_filtered/pointcloud and /sensing/lidar/right/outlier_filtered/pointcloud)

• I edited sensor_kit.xacro and

• /autoware/src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_description/config/sensor_kit_calibration.yaml