[Autoware] Inclined localizer, wrong detected obstacle height

edit

Ok, I will try it.

If I didn't understood wrong, I've to do the tf from localizer (Velodyne) to base_link

 <!-- base_link_to_localizer -->
   <arg name="x" default="2.2"/>
   <arg name="y" default="0"/>
   <arg name="z" default="1.86"/>
   <arg name="yaw" default="0"/>
   <arg name="pitch" default="0.2138"/> 
   <arg name="roll" default="0"/>
   <arg name="frame_id_baselink2localizer" default="base_link"/>
   <arg name="child_frame_id_baselink2localizer" default="velodyne"/>
   <arg name="period_in_ms" default="10"/>
   <node type="static_transform_publisher" pkg="tf" name="base_link_to_localizer" args="$(arg x) $(arg y) $(arg z) $(arg yaw) $(arg pitch) $(arg roll) $(arg frame_id_baselink2localizer) $(arg child_frame_id_baselink2localizer) $(arg period_in_ms)"/>

And the new one ("lidar"), is it with respect to localizer?

 <!-- localizer_to_lidar -->
   <arg name="x_lidar" default="0"/>
   <arg name="y_lidar" default="0"/>
   <arg name="z_lidar" default="0"/>
   <arg name="yaw_lidar" default="0"/>
   <arg name="pitch_lidar" default="-0.2138"/>
   <arg name="roll_lidar" default="0"/>
   <arg name="frame_id_localizer2lidar" default="velodyne"/>
   <arg name="child_frame_id_localizer2lidar" default="lidar"/>
   <arg name="period_in_ms_lidar" default="10"/>
   <node type="static_transform_publisher" pkg="tf" name="localizer_to_lidar" args="$(arg x_lidar) $(arg y_lidar) $(arg z_lidar) $(arg yaw_lidar) $(arg pitch_lidar) $(arg roll_lidar) $(arg frame_id_localizer2lidar) $(arg child_frame_id_localizer2lidar) $(arg period_in_ms_lidar)"/>

With this new tf, cluster points height should be similar to the height obtained with Veloview?

Thanks,

javcursor

EDIT_UPDATE:

I've tried it and if I'm doing it well I don't get the expected result

new screenshots