Using Own Lidar with Different Fields

[joewong00]

Hi.

Hi, I'm trying to run a rosbag demo using my own lidar which already has a ROS2 driver. The driver will directly output the points_raw topic with the field XYZIRDAT (x, y, z, intensity, ring, distance, azimuth, timestamp). How can I directly use this pointcloud as the input to crop box filter which is the first filter according to the pointcloud preprocessing pipeline? (https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/). In the launch file there seems to not be an easy way of doing it by just plugging in our own pointcloud topic.

Also when I try to run the crop box filter using my input, I get this warning and error. I think that it's because my pointcloud fields are not the same as the recommended fields stated in the above page, which is (XYZIRCADT). How should I go about this? Do I need to modify the driver to match the recommended fields? How can I do that?

Thanks!