distortion_corrector the pointcloud layout is not compatible with PointXYZIRCAEDT

[xmfcx]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/#steps following this, autoware cannot localize and prints errors.

Expected behavior

Tutorial works.

Actual behavior

Fails to localize and prints errors.

1727948014.0067625 [component_container-33] �[31m[ERROR 1727948014.005983387] 
[sensing.lidar.right.distortion_corrector_node]: The pointcloud layout is not compatible with PointXYZIRCAEDT.
Aborting (isInputValid() at
/home/mfc/projects/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp:173)�[0m

Full log file: https://gist.github.com/xmfcx/1613d133acb87e1a71d9cf57b7fc8381

2024-10-03.12-46-35.mp4

Steps to reproduce

Follow https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/#steps with the latest autoware.

Here is my latest snapshot of problem.repos file: https://gist.github.com/xmfcx/79c4571293336ad39a9f3262ac29ef32

Versions

Ubuntu 22.04, ROS 2 humble, Autoware latest main 2024-10-03 10:10:37 UTC

Possible causes

@vividf maybe you might know, a lot of changes were being merged related to the sample_sensor_kit_launch and about autoware_pointcloud_preprocessor package.

Additional context

No response

[xmfcx]

Potential culprit:

• refactor(autoware_pointcloud_preprocessor): rework approximate downsample filter parameters #8480 Probably not this.

[xmfcx]

So sorry 🙇 , I had an outdated AWSIM running in the background, it was fixed when I closed the running simulator 😅

[vividf]

@xmfcx
I follow the https://autowarefoundation.github.io/AWSIM-Labs/main/GettingStarted/QuickStartDemo/ and install the latest v1.5.2, then I also get the same error.

Since you mentioned that it is fixed, I would like to ask how can I fix this. Thanks!

[LitoNeo]

For AWSIM, the data type of output /sensing/lidar/top/pointcloud_raw_ex is XYZIRCEADT(as the image shows), but it seems what the distortion_corrector need is XYZIRCAEDT.

[vividf]

@LitoNeo Thanks, I think you are right :)

related link: autowarefoundation/AWSIM-Labs#173

[xmfcx]

@vividf @LitoNeo could you try the latest release?

I've fixed it in v1.5.3 and tested, it worked for me.

• https://github.com/autowarefoundation/AWSIM-Labs/releases