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Hi @daniel.tian

You need to process the point cloud produced by the lidar with a separate algorithm, as per documentation VoxelNet and LMNet are compatible:

"lidar_detector reads point cloud data from 3D laser scanners, and provides LiDAR-based object detection capabilities. The basic performance comes from the Euclidean Clustering algorithm, which finds clusters of the LiDAR scan (point cloud) above the ground. To classify the clusters, DNN-based algorithms are also supported, such as VoxelNet and LMNet." https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Overview

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