Target id increases infinitely during object tracking [autoware_imm_ukf_pda_track]

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/////////////////////////////////////////// ubuntu 16.04, ROS Kinetic, Autoware ///////////////////////////////////////////

Hi all,

I'm trying to track an object using autoware's imm_ukf_pda. When I track an object using the 'imm_ukf_pda_track.launch' file, the "target_id" of the objects keeps increasing to infinity. Do you know why this is happening? I just changed the topic name of the point cloud to subscribe to.

Even if you modify the values ​​of several parameters in the launch file, the target ID will continue to increase. Do you know why?

The video link : https://drive.google.com/drive/folder...