ndt_map and viz_ndt_map topic empty 'frame_id'

[MrOCW]

Hi, hoping to use autoware.auto for jetson xavier agx i created a pcd via LIO-SAM, ran ros2 launch ndt_nodes map_provider.launch.py and there were no errors, the pcd and yaml file seem to be loaded but i cant see anything in rviz2.

I echoed the viz_ndt_map topic and the frame_id of my own map is empty whereas the autonomous_lot_parking map (which works with the exact same param files used) has frame_id:map. Do i have to export the pcd with some additional data or something?

[shmpwk]

Yes, like autonomous_lot_parking map, you need frame_id: map.
The way to set frame_id is by hand cording or by LIO-SAM library (but it seems LIO-SAM doesn't have such API.)

(Same issue as https://answers.ros.org/question/403506/unable-to-visualize-own-pcd/)