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1, It is not a must.

2, It is not a must

3, Not the scope of Autoware. Please check this document for /move_base_simple/goal http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stackj

4, You need to set output_frame to sim_lidar in app for lidar_fake_perception.

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