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Hello, @shlokgoel. To answer your two issues:

1. Given that we are currently only using a naive Euclidean Clustering algorithm, the orientation of the bounding box for each object can change as points are added and removed from the clusters. Frame-to-frame tracking or an ML-based algorithm would be required to better estimate object orientation. Both of these are on our roadmap for the upcoming Cargo Delivery ODD.

2. This is likely due to both lidar processing delays and transform delays. If you change the fixed global frame in rviz to base_link, you can offset the second type of delay. Regarding the first, we made a huge performance improvement to the ray_ground_filter just prior to the 1.0.0 release Sunday. Please pull the latest ade images by adding --update to your ade start command and test again.