From 95594d900ea61924766722b47cb1c47b0e248c95 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Date: Wed, 10 Jul 2024 13:36:31 +0900
Subject: [PATCH] fix: added temporary retrocompatibility to old perception
 data (#7929)

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 sensing/pointcloud_preprocessor/src/filter.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
index 9b52babac88d..eaadd1da2c06 100644
--- a/sensing/pointcloud_preprocessor/src/filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -413,12 +413,19 @@ bool pointcloud_preprocessor::Filter::convert_output_costly(std::unique_ptr<Poin
 void pointcloud_preprocessor::Filter::faster_input_indices_callback(
   const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices)
 {
-  if (
+  // TODO(knzo25): This first branch is to give temporary compatibility with old perception data.
+  // Should be deleted soon
+  if (utils::is_data_layout_compatible_with_point_xyzi(*cloud)) {
+    RCLCPP_ERROR_THROTTLE(
+      get_logger(), *get_clock(), 10000,
+      "The pointcloud layout is compatible with PointXYZI. You may be using legacy "
+      "code/data. Continue at your own risk");
+  } else if (
     !utils::is_data_layout_compatible_with_point_xyzircaedt(*cloud) &&
     !utils::is_data_layout_compatible_with_point_xyzirc(*cloud)) {
     RCLCPP_ERROR(
       get_logger(),
-      "The pointcloud layout is not compatible with PointXYZIRCAEDT not PointXYZIRC. Aborting");
+      "The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting");
 
     if (utils::is_data_layout_compatible_with_point_xyziradrt(*cloud)) {
       RCLCPP_ERROR(