dummy object is below the ground

[soblin]

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

As in this image, when an object is placed in the Rviz, its center of mass is aligned to the map or the ground.

I think this is confusing when we debug the pointcloud/laserscan in planning simulator by changing the height of top Lidar.

I suggest aligning the base_link (the center of the bottom plane) to the map instead.

Expected behavior

When we set the height of top Lidar to 2m from the base_link and set the height of a car to 2.2m with its z height 0m for example, then we expect to see occupied/unknown part on the laserscan-based occupancy grid.

Currently since only half of the car, which is 1.1m height, is only effective and therefore laserscan-based occupancy grid from 2.0m height does not produce any occupied/known part.

In the below image scan_origin_frame of the occupancy grid map is 2.x [m] and the object height is set to 6m. Then the occupancy grid map is generated properly.

Actual behavior

In the above settings the occupancy grid is all free.

Steps to reproduce

1. Put ego vehicle
2. Put an object
3. See the object from 3D vie

Versions

No response

Possible causes

No response

Additional context

No response

[soblin]

cc @YoshiRi

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[soblin]

https://github.com/autowarefoundation/autoware.universe/pull/3119