Autoware compatible Ouster pointcloud

[szepilot]

https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/#point-cloud-fields

[ERROR] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting

Expected datatype XYZIRC

name	datatype	derived	description
X	FLOAT32	false	X position
Y	FLOAT32	false	Y position
Z	FLOAT32	false	Z position
I (intensity)	UINT8	false	Measured reflectivity, intensity of the point
R (return type)	UINT8	false	Laser return type for dual return lidars
C (channel)	UINT16	false	Channel ID of the laser that measured the point

Actions needed

1. RING >> rename to CHANNEL
2. RETURN TYPE >> 0

Current datatype xyzir

ros2 topic echo /sensing/lidar/concatenated/pointcloud --field fields --once

sensor_msgs.msg.PointField(name='x', offset=0, datatype=7, count=1), 
sensor_msgs.msg.PointField(name='y', offset=4, datatype=7, count=1)
sensor_msgs.msg.PointField(name='z', offset=8, datatype=7, count=1)
sensor_msgs.msg.PointField(name='intensity', offset=16, datatype=7, count=1)
sensor_msgs.msg.PointField(name='ring', offset=20, datatype=4, count=1)] (should be CHANNEL)

os_center/os_cloud:
  ros__parameters:
    timestamp_mode: 'TIME_FROM_ROS_TIME'  # this value needs to match os_sensor/timestamp_mode
    sensor_frame: 'os_center_a'
    lidar_frame: 'os_center_a_laser_data_frame'
    imu_frame: 'os_center_a_imu_data_frame'
    point_type: 'xyzir'

[horverno]

Check float / uint8 intensity conversion

ouster-ros/ouster-ros/include/ouster_ros/common_point_types.h

Line 26 in 672b960

float intensity;

ouster-ros/ouster-ros/include/ouster_ros/common_point_types.h

Line 79 in 672b960

uint8_t intensity;

[szepilot]

XYZIRC

ros2 topic echo /sensing/lidar/concatenated/pointcloud --field fields --once

sensor_msgs.msg.PointField(name='x', offset=0, datatype=7, count=1), 
sensor_msgs.msg.PointField(name='y', offset=4, datatype=7, count=1), 
sensor_msgs.msg.PointField(name='z', offset=8, datatype=7, count=1), 
sensor_msgs.msg.PointField(name='intensity', offset=12, datatype=2, count=1), 
sensor_msgs.msg.PointField(name='return_type', offset=13, datatype=2, count=1), 
sensor_msgs.msg.PointField(name='channel', offset=14, datatype=4, count=1)]

[szepilot]

On autoware discord somebody posted:

the sensor driver launch was configured to launch with point type xyzir this time around. And so some data required by the ring_outlier_filter was not present. Changing the point type to original fixed it.

Check this one too!