Sensors configuration JSON file uses different topics than the perception stack
With the configuration in https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/lgsvl-sensors.json for example, the velodyne point clouds are now published on /points_raw
(https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/lgsvl-sensors.json#L83), instead of /test_velodyne_node_cloud_front
and the frame name is velodyne_front
(https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/lgsvl-sensors.json#L84), instead of base_link