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@haopo2005 See below:

  1. 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.
  2. 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.
  3. See 3.