Pointcloud_preprocessor "Need an 'output_frame' parameter to be set before continuing!""

[pflee2002]

I installed the autoware.auto from the source and tried to use its perception stack.

Tried to run this command.
ros2 run pointcloud_preprocessor concatenate_pointclouds_node
and then got an error "Need an 'output_frame' parameter to be set before continuing!"

Tried to change in the xml to world (which is published). but the error is still there.

Any suggestiosn?

[maxime-clem]

Most nodes are meant to be started using a launch file, for example: https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/launch/preprocessor.launch.xml
You can see the launch arguments with the following command:

▶ ros2 launch pointcloud_preprocessor preprocessor.launch.xml --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'input_points_raw_list':
        define as string_array
        (default: '['/points_raw']')

    'output_points_raw':
        
        (default: '/points_raw/cropbox/filtered')

    'tf_output_frame':
        
        (default: 'base_link')

    'separate_concatenate_node_and_timesync_node':
        Set True to separate concatenate node and timesync node. which will cause to larger memory usage.
        (default: 'true')

Here all the parameters have default values so you can directly run the launch file.

You mention autoware.auto but my reply is about autoware.universe as auto is no longer supported.