Unable to visualize sensor pointcloud due to quality of service mismatch and inability to identify objects

[Hateley123]

Checklist

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

Description

We are using Livox Mid-360 Lidar to generate a point cloud with autoware and converting that point cloud through the autoware_livox_tag_filter node. It provides a point cloud output, but the quality of service for that generated point cloud is best effort. As a result, we are unable to visualize the point cloud on rviz as it requires the topic to be reliable. Where can we change the quality of service in your repository?

Furthermore, with the point cloud we are using the node autoware_lidar_centerpoint to extract the objects from the point cloud, but no objects are being detected even when we have a person walking or standing in front of the lidar. Any idea why?

Expected behavior

It should detect people in the point cloud

Actual behavior

doesnt

Steps to reproduce

1. Downloaded autoware according to instructions
2. launch livox ros mid 360 driver
3. launch autoware_livox_tag_filter and subscribe to /livox/lidar topic
4. create world frame
5. Launch autoware_lidar_centerpoint and subscribe to filtered point cloud
6. ros2 topic echo /objects

Versions

• os: ubuntu 22
• ros2
• in docker

Possible causes

idk thats why we are here

Additional context

No response