As title, when I tried to test teb local planner on my real amr, I found that in some case, the teb viapoints were not attached to the global path, as following figure.

• Red Line: global path
• Blue Marker: viapoints output from teb local planner
• Green Line: teb local plan
• TF marker: my robot localization in rviz

For this problem, I looked up the source code in TEB, and found that viapoints were related to transform_plan. As a result, was this problem related to my robot localization?