The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting

[feng123a52]

请问使用禾赛的激光雷达实车在外部传入自己的点云数据，autoware出现了这么个错，The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting该如何解决

[amadeuszsz]

Hi @feng123a52
Please, refer to this answer for more information.

[liuXinGangChina]

最近社区做了一个点云转换节点，何塞这边的驱动还没兼容
急用的话，你试试手写一个节点，把和赛输出的点格式改为xyzi，记得z和i之间不要空出来

the easiest way is to implement a node to transform those point from your driver to format “XYZI”
special note there should not be space between z and i field

happy hacking！