Reduce warning for Jazzy

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.

Description

Related Link: #6812 (comment)

When users run planning_simulator on ROS 2 Jazzy, we see the following warning messages spamming the terminal:

[component_container_mt-34] [pcl::fromPCLPointCloud2] No data to copy.

We would like to:

1. find which package is outputting this error message
2. find solution to reduce/remove message.
3. (extended goal) find why this only happens in Jazzy and not in Humble

[liuXinGangChina]

PCL Warning Analysis: Jazzy vs Humble in Planning Simulator

🎯 Issue Description

Autoware Jazzy Docker generates 1,812 warnings in Planning Simulator:

[pcl::fromPCLPointCloud2] No data to copy.

Humble Docker has zero warnings in the same scenario.

---

✅ Root Cause

PCL Library Version Difference

Environment	PCL Version	Behavior	Warnings
Jazzy	1.14.0	Detects empty pointcloud and outputs warning	1,812 ⚠️
Humble	1.12.1	Silently handles empty pointcloud	0 ✅

Source Code of PCL

File: pcl/common/include/pcl/conversions.h

PCL 1.14.0 Added Code (Lines 175-180):

// check if there is data to copy
if (msg.width * msg.height == 0)
{
  PCL_WARN("[pcl::fromPCLPointCloud2] No data to copy.\n");  // ← Here!
  return;
}

PCL 1.12.1: No such check, handles empty data silently.

---

Configuration Comparison

Result: Configurations are identical, difference is in PCL library code.

Component	Jazzy Config	Humble Config
AEB	use_pointcloud_data: true	use_pointcloud_data: true
AEB	use_predicted_object_data: false	use_predicted_object_data: false
Dummy Perception	object_centric_pointcloud: false	object_centric_pointcloud: false

---

🔍 Problem Chain

Planning Simulator Launch
    ↓
launch_sensing = false (No real sensors)
    ↓
Dummy Perception Publisher runs
    ↓
Publishes empty pointcloud to /perception/obstacle_segmentation/pointcloud
    ↓
AEB node subscribes and attempts conversion
    ↓
Calls PCL fromPCLPointCloud2()
    ↓
┌─────────────────────────────────┐
│ PCL 1.12 (Humble)              │
│ - No empty data check          │
│ - resize(0) succeeds           │
│ - Returns silently             │
│ ✅ No warnings                  │
└─────────────────────────────────┘
 
┌─────────────────────────────────┐
│ PCL 1.14 (Jazzy)               │
│ - Detects width × height == 0  │
│ - PCL_WARN(...) outputs warning│
│ ⚠️ Warns every time (10Hz×180s)│
│ = 1,812 warnings               │
└─────────────────────────────────┘