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Hi @salvatoresan
I haven't worked with Carla Simulator. But here is how you can create a point cloud map using Autoware. I am assuming that you are having a rosbag file of lidar data.
Wait for all the points to be processed. You could see something like this with Processed/Input.
Sequence number: 7376 Number of scan points: 22288 points. Number of filtered scan points: 4246 points. transformed_scan_ptr: 22288 points. map: 18588276 points. NDT has converged: 1 Fitness score: 0.0252884 Number of iteration: 3 (x,y,z,roll,pitch,yaw): (182.032, -10.058, 6.93801, -0.0725078, 0.0687478, -3.0697) Transformation Matrix: -0.995061 0.076609 -0.0631322 180.712 -0.0716644 -0.994438 -0.0771788 -10.2983 -0.0686937 -0.0722732 0.995016 8.84561 0 0 0 1 shift: 1.07927
Once you see that all the points are processed, go back to computing tab and click on [app] beside ndt_map.
Select your .pcd output file location and click on 'PCD OUTPUT' button.
Wait for a while until .pcd file is ready.
Boom, you have your pcd file.
Please let me know if you have any questions!