We want to enable obstacle avoidance in our self-driving car which is running on Autoware 1.12. We were trying to use lidarkfcontour_track with OpenPlanner to enable obstacle avoidance.

Currently, the topics that lidarkfcoutourtrack publishes to has no outputs. This node subscribes to /cloudcluster for the data but in our implementation, the lidareuclideanclusterdetect publishes to /detection/lidardetector/cloudcluster instead of /cloudclusters.We have tried:

Changing the lidarkfcontourtrack so that it subscribes to /detection/lidardetector/cloudcluster to get the data Publishing the data to /cloudcluster topic as well as the /detection/lidardetector/cloudcluster from lidareuclideanclusterdetect and keep the lidarkfcontourtrack subscribed to /cloud_cluster

(Cloudcluster is of type autowaremsgs/CloudClusterArray)
Both these ways did not help as we kept getting the following error message:

terminate called after throwing an instance if ‘std::outofrange’ what(): véctor::Mrangecheck: _n (which is 2) >= this->size() (which is 2) [Lidar contour track-1] process has died [pid 22419, exit code -6, cmd /home/mri/autoware.ai/install/lidarkfcontourtrack/lub/libdarkfcontourtrack/lidarkfcontourtrackname:=lidarkfcontourtack

We think this error occurs while processing the data when it is received by the lidarkfcontourtrack node and hence the error but cannot find the root cause of it. I have attached the settings that we are currently using for lidarkfcontourtrack as a picture to this post. Any help regarding this issue will be greatly appreciated!