ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org

Cannot subscribe to rosbag topic when launch preprocessing.launch

In order to concanate the lidar point cloud datas from the rosbag file I recorded before, I cannot subscribe to the topics in the preprocessing.launch file however I tried to many ways to subscribe. Anyone have an idea?
Here’s my launch file and rqt_graph:
Note: I recorded the rosbag with only 2 lidars(you can see as /velodyne_points_01 and /velodyne_points_04) just for now and that’s why I deleted if condition part from the launch file for concat filter and try to adapt my situation.

Also when I launch the preprocessing.launch file I got this error:
[ERROR] [1628676610.166239566]: Skipped loading plugin with error: XML Document ‘/home/nisa/workspace/AutowareArchitectureProposal.iv/install/traffic_light_ssd_fine_detector/share/traffic_light_ssd_fine_detector/traffic_light_ssd_fine_detector.xml’ has no Root Element. This likely means the XML is malformed or missing…
[ INFO] [1628677513.596157724]: Initializing nodelet with 16 worker threads.
[ INFO] [1628677513.601915580]: waitForService: Service [/pointcloud_preprocessor/pcl_manager/load_nodelet] is now available.
[ WARN] [1628677518.640897647]: This node/nodelet subscribes topics only when subscribed.
[ WARN] [1628677518.724132091]: This node/nodelet subscribes topics only when subscribed.

<launch>
  <arg name="input_points_raw0" default="/velodyne_points_01"/>
  <arg name="input_points_raw1" default="/velodyne_points_04"/>
  <arg name="input_points_raw2" default=""/>
  <arg name="input_points_raw3" default=""/>
  <arg name="input_points_raw4" default=""/>
  <arg name="input_points_raw5" default=""/>
  <arg name="input_points_raw6" default=""/>
  <arg name="input_points_raw7" default=""/>
  <arg name="input_points_number" default="2"/>
  <arg name="output_points_raw" default="/points_raw/cropbox/filtered"/>
  <arg name="tf_output_frame" default="base_link"/>

  <!-- nodelet manager -->
  <group ns="pointcloud_preprocessor">
    <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

    <!-- concat filter -->
    <group if="$(eval input_points_number!=1)">
      <node pkg="nodelet" type="nodelet" name="concatenate_filter" args="load pcl/PointCloudConcatenateDataSynchronizer pcl_manager" output="screen">
        <rosparam param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1)]</rosparam>         
        <remap from="~output" to="points_raw/concatenated" />
        <param name="output_frame" value="$(arg tf_output_frame)" />
        <param name="approximate_sync" value="true" />
	
<!--        
<rosparam if="$(eval input_points_number==2)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1)]</rosparam>
        <rosparam if="$(eval input_points_number==3)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1), $(arg input_points_raw2)]</rosparam>
        <rosparam if="$(eval input_points_number==4)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1), $(arg input_points_raw2), $(arg input_points_raw3)]</rosparam>
        <rosparam if="$(eval input_points_number==5)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1), $(arg input_points_raw2), $(arg input_points_raw3), $(arg input_points_raw4)]</rosparam>
        <rosparam if="$(eval input_points_number==6)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1), $(arg input_points_raw2), $(arg input_points_raw3), $(arg input_points_raw4), $(arg input_points_raw5)]</rosparam>
        <rosparam if="$(eval input_points_number==7)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1), $(arg input_points_raw2), $(arg input_points_raw3), $(arg input_points_raw4), $(arg input_points_raw5), $(arg input_points_raw6)]</rosparam>
        <rosparam if="$(eval input_points_number==8)" param="input_topics" subst_value="true">[$(arg input_points_raw0), $(arg input_points_raw1), $(arg input_points_raw2), $(arg input_points_raw3), $(arg input_points_raw4), $(arg input_points_raw5), $(arg input_points_raw6), $(arg input_points_raw7)]</rosparam>-->
      </node>
    </group>

    <!-- crop box filter -->
    <node pkg="nodelet" type="nodelet" name="crop_box_filter_mesurement_range" args="load pointcloud_preprocessor/crop_box_filter_nodelet pcl_manager" output="log">
      <remap if="$(eval input_points_number==1)" from="~input" to="$(arg input_points_raw0)" />
      <remap if="$(eval input_points_number!=1)" from="~input" to="points_raw/concatenated" />
      <remap from="~output" to="$(arg output_points_raw)" />
      <rosparam>
        min_x: -200.0
        max_x: 1000.0
        min_y: -50.0
        max_y: 50.0
        min_z: -2.0
        max_z: 3.0
        negative: False
      </rosparam>
      <param name="input_frame" value="$(arg tf_output_frame)" />
      <param name="output_frame" value="$(arg tf_output_frame)" />
    </node>
  </group>
</launch>
```![with_ringfilter|690x229](upload://hkzSTY2aDc1pIkWoz5omexwAoBn.png)

@nisailhan Please be aware that the Architecture Proposal is not an Autoware Foundation project and is completely maintained and supported by Tier IV. Please contact them directly for support.