Have trouble in ‘ndt matching’ with my custom pcd file

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I am trying to run ‘ndt matching’ using my custom pcd file, which was made using ‘ndt mapping’. I made a launch file refer to ‘moriyama quick start’ demo. I uploaded my launch file :

<launch>  
  <arg name="period_in_ms" default="10"/>   
  <node pkg="tf" type="static_transform_publisher" name="world_to_map" args="788935 -2362 -82 0 0 0 /world /map $(arg period_in_ms)"/>  
  <!-- map_to_mobility_tf -->  
  <node pkg="tf"  type="static_transform_publisher" name="map_to_mobility" args="0 0 0 0 0 0 /map /mobility 10" />  
  <!-- pointcloud -->  
  <node pkg="map_file" type="points_map_loader" name="points_map_loader" args="noupdate $(env HOME)/Desktop/KimTaekyung/mapping2matching/190614_DATA_FIRST_NDTwIMU.pcd"/>  
  <!-- VLP-16 -->  
  <arg name="velodyne_calib" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>  
  <include file="$(find velodyne_pointcloud)/launch/velodyne_vlp16.launch">  
    <arg name="calibration" value="$(arg velodyne_calib)"/>  
  </include>  
  <!-- setting path parameter -->  
  <arg name="get_height" value="true" />  
  <!-- Setup -->  
  <include file="$(find runtime_manager)/scripts/setup_tf.launch">  
    <arg name="x" value="1.2" />  
    <arg name="y" value="0.0" />  
    <arg name="z" value="2.0" />   
    <arg name="yaw" value="0.0" />  
    <arg name="pitch" value="0.0" />  
    <arg name="roll" value="0.0" />  
    <arg name="frame_id" value="/base_link" />  
    <arg name="child_frame_id" value="/velodyne" />  
    <arg name="period_in_ms" value="10"/>  
  </include>  
  <include file="$(find model_publisher)/launch/vehicle_model.launch" />  
  <!-- voxel_grid_filter -->  
  <arg name="sync" default="false" />  
  <arg name="node_name" default="voxel_grid_filter" />  
  <arg name="points_topic" default="velodyne_points" />  
  <arg name="output_log" default="false" />  
  <node pkg="points_downsampler" name="$(arg node_name)" type="$(arg node_name)">  
    <param name="points_topic" value="$(arg points_topic)" />  
    <remap from="/points_raw" to="/sync_drivers/points_raw" if="$(arg sync)" />  
    <param name="output_log" value="$(arg output_log)" />  
  </node>  
  <!-- nmea2tfpose -->  
  <include file="$(find gnss_localizer)/launch/nmea2tfpose.launch"/>  
</launch>

‘ 788935 -2362 -82’ is the first GPS coordinate in my rosbag file when I ran ‘ndt mapping’. I think I had followed all I need to do, but ‘ndt matching’ is not working. The ‘base_link’ is just following the ‘gps’ frame, and ‘gps’ frame is very far from pointcloud map. So it does not perform matching properly.

I had checked the ‘frame’ coordinates of moriyama quick start demo, and my custom environment. Every coordinates are same. The only difference is, the pointcloud map is just beyond the ‘map’ frame. Moriyama demo’s pointcloud map is displayed far from ‘map’ frame, actually on the GPS coordinates.

So I had tried to shift the pointcloud map to the GPS coordinates, just as moriyama demo does. Firstly, I had tried using ‘TF’ to shift it, but pointcloud map in pcd file seems to be registered on ‘map’ frame directly. So I couldn’t modify its position using ‘TF’. Second, I had checked source code and launch file of ‘points_map_loader’ and ‘ndt_mapping’. But I failed to find out how to do.

Is there any way to solve this problem??