Localization on AutowareAI/Rviz: 2D Estimate Pose Icon Fails

edit

Hi guys I am running this tutorial https://www.svlsimulator.com/docs/sys... however instead BoregasAVe map I am using the SanFranscisco map.

I hope some ROS expert here have the knowledge on how to localize the vehicle in a huge PCD map using Rviz, when you do not know the vehicle origin

I mean what is the procedure to get the coordinates from LGSVL simulator and match with the PCD map opened on Rviz in order to define the car localization?

Being practical: I just wish to use the 2D pose Estimate arrow in the correct place, to enable vehicle's localization on rviz.

There are a lot of streets in this map, and they are quite similar!!! I have no idea in which of them the vehicle is spawned.