fix(ground_segmentation): fix bug (autowarefoundation#7771)

launch/tier4_perception_launch/package.xml

@@ -19,6 +19,7 @@
   <exec_depend>detected_object_feature_remover</exec_depend>
   <exec_depend>detected_object_validation</exec_depend>
   <exec_depend>detection_by_tracker</exec_depend>
+  <exec_depend>elevation_map_loader</exec_depend>
   <exec_depend>euclidean_cluster</exec_depend>
   <exec_depend>ground_segmentation</exec_depend>
   <exec_depend>image_projection_based_fusion</exec_depend>

perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

@@ -292,12 +292,13 @@ void RANSACGroundFilterComponent::filter(
   no_ground_cloud_msg_ptr->header = input->header;
   no_ground_cloud_msg_ptr->fields = input->fields;
   no_ground_cloud_msg_ptr->point_step = point_step;
+  no_ground_cloud_msg_ptr->data.resize(input->data.size());
   size_t output_size = 0;
   // use not downsampled pointcloud for extract pointcloud that higher than height threshold
   for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) {
-    float x = *reinterpret_cast<float *>(input->data[global_size + x_offset]);
-    float y = *reinterpret_cast<float *>(input->data[global_size + y_offset]);
-    float z = *reinterpret_cast<float *>(input->data[global_size + z_offset]);
+    float x = *reinterpret_cast<const float *>(&input->data[global_size + x_offset]);
+    float y = *reinterpret_cast<const float *>(&input->data[global_size + y_offset]);
+    float z = *reinterpret_cast<const float *>(&input->data[global_size + z_offset]);
     const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z);
     if (std::abs(transformed_point.z()) > height_threshold_) {
       std::memcpy(