About different brands of LiDAR access

[xcg340122]

I found that there seem to be only some configuration examples of LiDAR for common brands. For new brands, I don't know how to access them. If only ROS topic is used, can't I provide the source of radar data? My current LiDAR data examples:

bylike@bylike-Default-string:~/autoware$ ros2 topic echo /points_raw
header:
  stamp:
    sec: 1735743945
    nanosec: 440771341
  frame_id: lidar_link
height: 1
width: 5366
fields:
- name: x
  offset: 0
  datatype: 7
  count: 1
- name: y
  offset: 4
  datatype: 7
  count: 1
- name: z
  offset: 8
  datatype: 7
  count: 1
- name: intensity
  offset: 16
  datatype: 7
  count: 1
is_bigendian: false
point_step: 32
row_step: 171712
data:
- 38
- 231
- 77
- 192
- 255
- 164
- 215
- 191
- 236
- 117
- 62
- 62
- 255
- 127
- 0
- 0
- 0
- 0
- 96
- 67
- 236
- 87
- 0
- 0
....

rviz show:

The node is transformed into the corresponding perceptual topic:

autoware run error log:

[service_log_checker_node-6] [ERROR] [1735746597.981136748] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/adapi/node/localization)
[service_log_checker_node-6] [ERROR] [1735746597.981268877] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/adapi/node/localization)
[service_log_checker_node-6] [ERROR] [1735746597.981430633] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/default_ad_api/helpers/automatic_pose_initializer)
[component_container_mt-1] [ERROR] [1735746597.982184436] [perception.obstacle_segmentation.crop_box_filter]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[component_container_mt-1] [ERROR] [1735746597.982858896] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[rviz2-68] [INFO] [1735746597.991292821] [rviz2]: Message Filter dropping message: frame 'base_link' at time 1735746596.991 for reason 'discarding message because the queue is full'

[wayne-turing]

Your data format is: x, y, z, intensity.
The system requires using PointXYZIRCAEDT or PointXYZIRC.
It might be worth discussing whether the Lidar provider supports Autoware.

[xcg340122]

In fact, my radar uses a 'no contact brush rotating mirror' scan to achieve point cloud scanning, which means it may not be as sparse as a multi-line radar, but I already know that it has an effective point cloud sampling frequency of 64,000 points per second, which, according to PointXYZIRC's format, may lack ring and channel. I looked up relevant materials, and these two values generally changed little. I converted them to PointXYZIRC format by subscribing to the original message, but similar errors still seemed to be displayed. May I ask what conditions are required to be compatible with autoware framework?

Point cloud format:

bylike@bylike-Default-string:~/autoware$ ros2 topic echo /points_raw
header:
  stamp:
    sec: 1735819833
    nanosec: 33458232
  frame_id: base_link
height: 1
width: 5357
fields:
- name: x
  offset: 0
  datatype: 7
  count: 1
- name: y
  offset: 4
  datatype: 7
  count: 1
- name: z
  offset: 8
  datatype: 7
  count: 1
- name: intensity
  offset: 12
  datatype: 7
  count: 1
- name: ring
  offset: 16
  datatype: 4
  count: 1
- name: channel
  offset: 18
  datatype: 4
  count: 1
is_bigendian: false
point_step: 20
row_step: 107140
data:
- 51
- 209
- 244
- 64
- 202
- 138
- 240
- 191
- 58
- 240
- 179
- 62

autoware error log:

[component_container_mt-1] [ERROR] [1735819691.174788739] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[component_container_mt-1] [ERROR] [1735819691.174825674] [localization.util.crop_box_filter_measurement_range]: The pointcloud layout is compatible with PointXYZI. You may be using legacy code/data
[rviz2-68] [INFO] [1735819691.189612777] [rviz2]: Message Filter dropping message: frame 'base_link' at time 1735819688.742 for reason 'discarding message because the queue is full'
[component_container_mt-61] [INFO] [1735819691.250720865] [control.trajectory_follower.lane_departure_checker_node]: waiting for current_twist msg...
[component_container_mt-1] [ERROR] [1735819691.316824906] [perception.obstacle_segmentation.crop_box_filter]: The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting
[component_container_mt-1] [ERROR] [1735819691.316926483] [perception.obstacle_segmentation.crop_box_filter]: The pointcloud layout is compatible with PointXYZI. You may be using legacy code/data

[amadeuszsz]

@xcg340122 your datatypes are wrong, please see docs.

[xcg340122]

@xcg340122 your datatypes are wrong, please see docs.

I've made the switch to the autoware-friendly pandar40p with a sensor kit, but the perception part isn't functioning. Also, I can't find an active community or chat group, and it feels like the response rate here is quite slow.