OccupangyGrid map Issue: ray_ground_filter fails to generate costmap on AutowareAI

edit

I have recorded a video where the self-driving car fails to recognize a car obstacle in Occupancy Grid map:

https://www.youtube.com/watch?v=XSKYE...

This issue is related to: https://answers.ros.org/question/3773...

I did not figured out the reason why the /semantics/costmap_generator/occupancy_grid does not recognize the AGENT car or pedestrian as obstacle. When I echoed this topic, it returns usually an inifinite array of ZEROs values. However sometimes it returns the value 100:

`$ rostopic echo /semantics/costmap_generator/occupancy_grid

0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 100, 0, 0, 100, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 100, 100, 0, 0, 0, 0, 0, 100, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 0, 0,....]`

The terminal that outputs the runtime_manager launched modules, always display this warning message:

Lookup would require extrapolation into the past. Requested time 1620142061.472442880 but the earliest data is at time 1620142284.496077775, when looking up transform from frame [velodyne] to frame [base_link]

And this error message:

[ERROR] [1620142288.442861565]: Failed transform from base_link to velodyne

However when I run the commands:

```
$rosrun tf view_frames
$ evince frames.pdf
```

I get this TF: frames.pdf

Afterwards I checked again if the TF exist with the cmd:

`$rosrun tf tf_echo base_link velodyne:`

At time 1620141918.625
- Translation: [0.368, 0.000, 1.975]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]
At time 1620141919.617
- Translation: [0.368, 0.000, 1.975]
- Rotation: in ...