apollo: [Offline Perception Visualizer] Failed to find match for field.

Trying to run https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_offline_perception_visualizer.md.

Issue:

Failed to find match for field 'intensity'.
Failed to find match for field 'h'.

More details:

I0104 14:37:27.810307 27830 offline_lidar_visualizer_tool.cc:77] starting to run
I0104 14:37:27.869201 27830 offline_lidar_visualizer_tool.cc:80]  pose size 3808
I0104 14:37:27.869215 27830 offline_lidar_visualizer_tool.cc:81]  pcd size 3808
I0104 14:37:27.869220 27830 offline_lidar_visualizer_tool.cc:88] starting frame is 1
I0104 14:37:28.869283 27830 offline_lidar_visualizer_tool.cc:91] ***************** Frame 0 ******************
I0104 14:37:28.869321 27830 offline_lidar_visualizer_tool.cc:94] load pcd file from file path/apollo/data/pcd/1.pcd
Failed to find match for field 'intensity'.
Failed to find match for field 'h'.
E0104 14:37:28.884354 27830 hdmap_util.cc:36] No existing file found in /apollo/modules/map/data/sunnyvale_big_loop/base_map.bin|base_map.xml|base_map.txt. Fallback to first candidate as default result.
I0104 14:37:28.884380 27830 hdmap.cc:24] Loading HDMap: /apollo/modules/map/data/sunnyvale_big_loop/base_map.bin...
E0104 14:37:28.884397 27830 file.h:139] Failed to open file /apollo/modules/map/data/sunnyvale_big_loop/base_map.bin in binary mode.
E0104 14:37:28.884481 27830 file.h:96] Failed to open file /apollo/modules/map/data/sunnyvale_big_loop/base_map.bin in text mode.
E0104 14:37:28.884490 27830 hdmap_util.cc:62] Failed to load HDMap /apollo/modules/map/data/sunnyvale_big_loop/base_map.bin
I0104 14:37:28.884510 27830 timer.cc:37] [DEBUG] TIMER lidar_get_roi_from_hdmap elapsed_time: 0 ms
I0104 14:37:28.884531 27830 lidar_process.cc:133] [DEBUG] call roi_filter succ. The num of roi_cloud is: 0
I0104 14:37:28.884557 27830 timer.cc:37] [DEBUG] TIMER lidar_roi_filter elapsed_time: 0 ms
I0104 14:37:28.884569 27830 lidar_process.cc:155] [DEBUG] call segmentation succ. The num of objects is: 0
I0104 14:37:28.884580 27830 timer.cc:37] [DEBUG] TIMER lidar_segmentation elapsed_time: 0 ms
I0104 14:37:28.884603 27830 lidar_process.cc:167] [DEBUG] call object_builder succ.
I0104 14:37:28.884610 27830 timer.cc:37] [DEBUG] TIMER lidar_object_builder elapsed_time: 0 ms
I0104 14:37:28.884624 27830 lidar_process.cc:182] [DEBUG] call tracker succ, there are 0 tracked objects.
I0104 14:37:28.884639 27830 timer.cc:37] [DEBUG] TIMER lidar_tracker elapsed_time: 0 ms
I0104 14:37:28.884656 27830 lidar_process.cc:196] [DEBUG] lidar process succ.
I0104 14:37:28.884672 27830 timer.cc:37] [DEBUG] TIMER lidar_type_fuser elapsed_time: 0 ms
Segmentation fault (core dumped)

Steps:

Mostly followed https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_offline_perception_visualizer.md.

cd apollo
bash docker/scripts/dev_start.sh
bash docker/scripts/dev_into.sh
roslaunch velodyne export_pcd_offline.launch

cd /apollo/data/bag
rosbag play --clock Apollo1.5_demo.bag 

cd /apollo/modules/perception/tool
python gen_pose_file.py /apollo/data/pcd

What is the reason for that? Any idea how to make it match? Thanks in advance!