Yamato Ando

@soblin Please resolve conflicts. And I think it would be better to change `top/outlier_filtered/pointcloud` to `*/pointcloud`. The topic names will be change with [this PR](https://github.com/autowarefoundation/sample_sensor_kit_launch/pull/82).

@Kim-mins I think there might be an issue with setting up the tf between base_link and velodyne_top correctly. Could you please comfirm it?

You can check the TF between velodyne_top and base_link using the following command: ``` $ ros2 run tf2_ros tf2_echo base_link velodyne_top ``` and this is the result in your [rosbag](https://drive.google.com/drive/folders/1QYjNWnODhC8uDvI70VppsmXTydUCgbv-?usp=sharing)...

When checking the TF tree, it seems to have the structure of base_link sensor_kit_base_link velodyne_top_base_link velodyne_top. ``` $ ros2 run tf2_tools view_frames ```  And velodyne_top_base_link velodyne_top...

From my tests, it seems that the LiDAR is correctly positioned approximately +1.5 m along the x-axis from the base_link. Could you adjust the TF to achieve the display results...

Alternatively, [this line](https://github.com/evshary/zenoh_carla_bridge/blob/3155fa866e92f9dcf8fd768b4047c81badc45253/carla_agent/simulation/sensors/lidar.py#L23) modify to `x=-1.5` might also work.

> I cannot find the calibration for velodyne_top_base_link velodyne_top, sorry for that. But there seems no translation, since the values match to what you provided. see here! https://github.com/evshary/autoware_carla_launch/blob/b9e3161b2515ab3ed1940141c7ac2d0192341225/src/carla_sensor_kit_description/urdf/sensor_kit.xacro#L26-L35 https://github.com/tier4/sensor_component_description/blob/main/vls_description/urdf/VLS-128.urdf.xacro

> By the way, I have a question for the value 1.5. Could you please tell me the reason for adding 1.5 to the translation on x-axis? When I tested...

It seems like you're using the [tesla.model3 vehicle](https://github.com/evshary/zenoh_carla_bridge/blob/3155fa866e92f9dcf8fd768b4047c81badc45253/carla_agent/simple_spawn.py#L25 ), but did you get it from [this repository](https://github.com/Robotics010/carla_tesla_model3_description/tree/master )? [The wheel_base of this vehicle is 3.0046](https://github.com/Robotics010/carla_tesla_model3_description/blob/master/carla_tesla_model3_description/config/vehicle_info.param.yaml#L5), so I think 1.5023 would...

I thought changing [here](https://github.com/evshary/autoware_carla_launch/blob/b9e3161b2515ab3ed1940141c7ac2d0192341225/src/carla_sensor_kit_description/config/sensor_kit_calibration.yaml#L59) (0 to 1.5) wouldn't affect the acquired point cloud. You didn't change [this line](https://github.com/evshary/zenoh_carla_bridge/blob/3155fa866e92f9dcf8fd768b4047c81badc45253/carla_agent/simulation/sensors/lidar.py#L23), right?