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Hello fantasyplus,

Unfortunately because you are using Autoware 1.14 this will not work out of the box. you need to check the frames and topic names.

One simple solution is to set output frame in euclidean cluster node to "map", and use lidar_kf_contour_tracker.

If you are willing to use Autoware 1.13 , then you can switch to repository from https://gitlab.com/hatem-darweesh-autoware.ai

openplanner.1.13 branch

Then everything should work out of the box.