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@Mackou, Hi, guys I also find this problem. And in order to use lidar_kf_contour_track, I remaped the topic "/detection/lidar_detector/cloud_clusters" to "/cloud_clusters", which is published by the node lidar_euclidean_cluster. And I got the /tracked_objects topic . But it's still no use for openplanner and all the local trajectories are green. And I also tested in Carla-Autoware, and I use ground truth from carla instead of perception from autoware. To my surprise, I find those trajectories blocked by obstacles turned to red. And the ego vehicle can avoid obstacles.
But I still totally have no idea about how to use the perception node (lidar_euclidean_cluster -> lidar_kf_contour_track) -> OpenPlanner. Could anyone give some details?
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