Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.
Your PCD map does not need to contain absolute GPS point data, it can use relative data - relative to the origin (usually where you started recording the scan). You must then provide the world -> map transform with a static_transform_publisher.
Autoware uses the Japanese Rectangular Coordinate Frame system for the world frame. GNSS usually outputs data in UTM coordinates and, in 1.11.0 especially, it is not possible to localize with GPS - you must use lidar-based localization.