How to use Velodyne VLP16 with AutowareAuto 1.0.0

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I want to run velodyne VLP16 with AutowareAuto 1.0.0 (w/o ADE). I succeeded in running the velodyne package under Foxy. I cloud conduct it by running a command, ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py (only need source /opt/ros/foxy/setup.bash). However, after typing source AutowareAuto/install/setup.bash, ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py command doesn't run. The details of the error are posted below.

user@user:~$ ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py 
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2021-05-20-09-10-38-266177-user
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/foxy/share/velodyne/launch/velodyne-all-nodes-VLP16-launch.py:47: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  velodyne_driver_node = launch_ros.actions.Node(package='velodyne_driver',
/opt/ros/foxy/share/velodyne/launch/velodyne-all-nodes-VLP16-launch.py:57: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  velodyne_convert_node = launch_ros.actions.Node(package='velodyne_pointcloud',
/opt/ros/foxy/share/velodyne/launch/velodyne-all-nodes-VLP16-launch.py:64: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  velodyne_laserscan_node = launch_ros.actions.Node(package='velodyne_laserscan',
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=SubstitutionFailure("package 'velodyne_driver' found at '/home/user/AutowareAuto/install/velodyne_driver', but libexec directory '/home/user/AutowareAuto/install/velodyne_driver/lib/velodyne_driver' does not exist")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 276, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 296, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 426, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in ...