Perception pointcloud not working

[yaukaizhi]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

Pointcloud input for perception module (/sensing/lidar/concatenated/pointcloud) dies sometimes, I suspect it is because of isNAN changes made in previous commit

Expected behavior

Avoidance

Actual behavior

No input to perception module

Steps to reproduce

Launch autoware, give goal

Versions

No response

Possible causes

No response

Additional context

No response

[yaukaizhi]

Issue solved by removing isNAN from previous commit, make sure u switch to AUTO mode on GUI, also turned off dynamic avoidance module