Delayed Loading of /voxel_grid_downsample_filter Node Causing Localization Issues in Autoware

[habby1012]

I am currently using the update_autoware branch from this repository: autoware_carla_launch

The architecture mainly involves communication between Carla and Autoware using Zenoh.

When I launch Autoware, the /localization/util/crop_box_filter_measurement_range node is loaded quickly and successfully publishes data to /localization/util/measurement_range/pointcloud, as shown in the diagram and the attached ROS2 bag file (Due to the large file size, I have uploaded it to the cloud).

ros2 bag file

However, the /localization/util/voxel_grid_downsample_filter node does not load immediately after starting Autoware. It typically takes about two minutes to load, which causes the subsequent localization process to also be delayed by two minutes before it can function normally.

Attached is my Autoware log file.
autoware_log.zip

I would really appreciate it if anyone could provide some suggestions on how to resolve this issue. Thank you in advance for your help!

[habby1012]

Also, when i use ros2 component list command, it shows no nodes in /pointcloud_container

After two minutes, nodes start to be loaded in to the pointcloud_container, and the initial localization process finishes.