[autoware.auto] ray_ground_filter parameter limits

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Hello everyone,

I'm working on a lidar driver project (implement ros2 driver for an Ouster OS0 sensor) similar to the autoware.auto velodyne driver or SteveMacenski Ouster driver for ROS 2( https://github.com/SteveMacenski/ros2...).

The visualized Pointcloud does not look bad and I'm now trying to pass it downstream to the ray_ground_filter of the autoware.auto perception stack. As far as I understood this filter generates horizontal "rays" which look like circles around the vehicle to then separate the ground from the non-ground points/rays.

The sensor I use (Ouster OS0) outputs with a horizontal resolution of (512,1024,2048) points, which is more than the velodyne sensor as far as I understood.

Is it possible to use the ray_ground_filter (and in the following the rest of the perception stack) with a higher resoluting lidar than the one used in the autoware stack? Is there a way to change the limits of the received Pointcloud in order to work with a higher resoluting lidar?

When I try to use it I receive an error complaining about a ray becoming too long - which totally makes sense for me. (I tilted the sensor afterwards and the ground-filter worked as expected.)

Thanks a lot!

(setup: Ubuntu 18.04, ROS2 dashing diademata, autoware.auto ade container, Ouster OS0 sensor)