I don’t know how to connect lidar to autoware

[1111F11]

I am using Hesai 40P model radar. I looked at the official link diagram and set ros_frame_id to velodyne_top and the topic to /sensing/lidar/top/pointcloud_raw_ex. However, every time I open the lidar driver related crop_box_filter_self and crop_box_filter_mirror disappear. Yes, there should be a conflict. How should I solve this problem?

[1111F11]

I am using Hesai 40P model radar. I looked at the official link diagram and set ros_frame_id to velodyne_top and the topic to /sensing/lidar/top/pointcloud_raw_ex. However, every time I open the lidar driver related crop_box_filter_self and crop_box_filter_mirror disappear. Yes, there should be a conflict. How should I solve this problem?

I have read https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/ and https:// /autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/#point-cloud-fields document but still don’t know where the problem lies.