I can't integrate Robosense Lidar with autoware.universe

[mosss-code]

Versions

OS: Ubuntu22
ROS2: Humble
Lidar: RS16

I'm currently trying to use autoware.universe, but I only have a Robosense RS16 lidar, and I've tried everything without success integrating it.
Has anyone used the same lidar and integrated it successfully?
I have racked my brains. Can someone help me? I will be extremely grateful!

[Shin-kyoto]

@mosss-code
Can you share your code for RS16? We need more information to help you.
And please share the following topics.

• What did you do for integrating it?
• Please share command that you typed and error message.
• Please share commit hash of autoware.universe.

[mosss-code]

Yes,I tried it，but I can't tell if what I'm doing is correct.
The rslidar_sdk only gets XYZIRT or XYZIR by default.
So I tried to use the ros_rslidar driver previously maintained by Robosense to publish the /velodyne_packets topic for acceptance and processing by velodyne_pointcloud in autoware.universe.
But the rslidar_msgs:

builtin_interfaces/Time stamp
uint8[1248] data

velodyne_msgs:

builtin_interfaces/Time stamp
uint8[1206] data

I tried to convert rslidar_msgs to velodyne_msgs, and then run the driver and velodyne_pointcloud, but the error is reported as follows
[WARN] [1688464712.176528941] [sensing.lidar.top.velodyne_convert_node]: skipping invalid VLS-128 packet: block 0 header value is 43605

[J-xinyu]

I'm trying to make this work as well, and would very much look forward to a step by step tutorial from you if you succeed.

[zulfaqar-azmi-t4]

(your changes here is correct, but use */pointcloud instead of */pointcloud_ex). Also, there are two options that you can take.

1. it is a bit complicated, but you can modify the rslidar_sdk directly to output XYZIRCADT data
2. Bypass some node (comment out RingOutlierFilter and DistortionCorrector nodes)

[J-xinyu]

How did you convert rslidar_msgs to velodyne msgs and publish it. I am also now looking to integrate Robosense into autoware, any help would be greatly appreciated

[lhakim85]

maybe this issue related to this topic
https://github.com/autowarefoundation/autoware.universe/issues/3827