Closed kminoda closed 1 month ago
@kminoda Are you planning to work on this task? or do you help from AWF members?
@mitsudome-r No plan for now. Would appreciate if we can get a help from AWF members!
@mitsudome-r @kminoda, I would like to work on this issue, assigned myself.
Now, some packages in autoware use pcl_ros::transformPointCloud
.
e.g. https://github.com/autowarefoundation/autoware.universe/blob/faf4bd0286971e7ceaf52f1ff1ff8df3954348e4/planning/obstacle_velocity_limiter/src/pointcloud_utils.cpp#L47.
https://github.com/autowarefoundation/autoware.universe/blob/faf4bd0286971e7ceaf52f1ff1ff8df3954348e4/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp#L177
Do we have to fix them too?
@h-ohta Thank you for the report. I think we need to check
@kminoda
if pcl_ros::transformPointCloud has the same issue mentioned here
In this repository, below functions are used.
Please refer to https://github.com/search?q=repo%3Aautowarefoundation%2Fautoware.universe%20pcl_ros%3A%3AtransformPointcloud&type=code.
As a result, when sensor points are empty, Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.
occurs but a node is not killed.
This pull request has been automatically marked as stale because it has not had recent activity.
@kminoda Seems that the issue is fixed. Can we close this one? Thanks!
The issue seems to be resolved. If the problem still exists, please open this thread.
Checklist
Description
pcl::transformPointCloud, which is used in several packages in Autoware, dies when receiving pointcloud with zero points. This causes a error during runtime.
(Internal link in TIER IV: https://star4.slack.com/archives/C4P0NSMB5/p1677827663887509)
Purpose
To avoid Autoware failing when zero length pointcloud is published
Possible approaches
I think 1 is the best approach as a temporary solution.
Definition of done
Autoware does not die because of pcl::transformPointCloud even when the pointcloud with zero width is published.