[Autoware.Auto] ndt map pulbisher not working, PCD file not be loaded.
Environment Setting: Ubuntu 20.04, ros2-foxy, use Autoware.Auto master branch, don't use ADE, Use Master branch
I wanted to publish PCD map file, but ndt_map_publisher didn't work like that. I am trying to run map_provider.launch.py file which is in ndt_nodes ros2 package. but the following results were obtained.
[INFO] [launch]: All log files can be found below /home/morai/.ros/log/2021-12-01-15-30-25-097848-morai-desktop-212024
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ndt_map_publisher_exe-1]: process started with pid [212026]
[INFO] [voxel_grid_node_exe-2]: process started with pid [212028]
[ndt_map_publisher_exe-1] [pcl::PCDReader::readHeader] No points to read
[ndt_map_publisher_exe-1] terminate called after throwing an instance of 'std::runtime_error'
[ndt_map_publisher_exe-1] what(): PCD file /home/morai/AutowareAuto/install/autoware_demos/share/autoware_demos/data/autonomoustuff_parking_lot_lgsvl.pcd could not be loaded.
[ERROR] [ndt_map_publisher_exe-1]: process has died [pid 212026, exit code -6, cmd '/home/morai/AutowareAuto/install/ndt_nodes/lib/ndt_nodes/ndt_map_publisher_exe --ros-args -r __ns:=/localization --params-file /home/morai/AutowareAuto/install/autoware_auto_launch/share/autoware_auto_launch/param/map_publisher.param.yaml --params-file /tmp/launch_params_y55b9iy9 --params-file /tmp/launch_params_yzl4fuzo']
I used my own custom PCD file. Because I thought original (default : autonomoustuff_parking_lot.pcd) PCD file is the cause of the matter. The changed part is the file name of the line 40 and 43 of the link file below.
https://gitlab.com/autowarefoundation...
After the change, the following results were obtained.
[INFO] [launch]: All log files can be found below /home/morai/.ros/log/2021-12-01-16-17-52-898023-morai-desktop-231143
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ndt_map_publisher_exe-1]: process started with pid [231145]
[INFO] [voxel_grid_node_exe-2]: process started with pid [231147]
[ndt_map_publisher_exe-1] terminate called after throwing an instance of 'std::runtime_error'
[ndt_map_publisher_exe-1] what(): intensity datatype is not float or uint8_t
[ERROR] [ndt_map_publisher_exe-1]: process has died [pid 231145, exit code -6, cmd '/home/morai/AutowareAuto/install/ndt_nodes/lib/ndt_nodes/ndt_map_publisher_exe --ros-args -r __ns:=/localization --params-file /home/morai/AutowareAuto/install/autoware_auto_launch/share/autoware_auto_launch/param/map_publisher.param.yaml --params-file /tmp/launch_params_6tp78do_ --params-file /tmp/launch_params_18dohqoq'].
My Custom PCD file format is as follows, but I couldn't figure out why the problem occurred.
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 45273600
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 45273600
DATA binary
and the only other part I changed is param file which refer to map_provider.launch.py
https://gitlab.com/autowarefoundation...
I am asking for you to give me advice to solve this problem. Thank you for your help in advance.