pointcloud is removed too much by outlier_filter

[kazushi67]

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.

discription

when I use AWSIM(building in Unity. doesn't happen in AWSIM_v1.1.0) and Autoware-universe(awsim-stable branch), Lidar pointcloud is removed too much. Accoding to my research, this problem is caused by ring_outlier_filter.

Before being processed in outlier_filter, "/sensing/lidar/top/rectified/pointcloud_ex" has full point cloud

Expected behavior

there are all direction in pointcloud

Actual behavior

a part of the pointcloud isn't exist

Steps to reproduce

building AWSIM in unity and use Autoware

Versions

Autoware-Universe(awsim-stable) AWSIM(https://github.com/tier4/AWSIM) main-branch

Additional context

No response

[kazushi67]

I find this issue is caused by "object_lengththreshold" parameter in "ring_outlier_filter". After setting 0.0 to this parameter, pointcloud has all directions.