It is a source build autoware 1.12 in ubuntu 16.04 (aarch64), the pcd map can be shown, however the tf has some problems that only world->map and baselink -> velodyne, but not map -> baselink, the tfview frames shows the average rate of world -> map is around 100Hz. I am quite sure that I follow the startup procedure correctly, as the other 2 system i had can be displayed the result correctly with same rosbag and pcd file. I saw sth like "ndtmatching" proceed is dead...

Anyone has idea to solving this issue/ giving some direction to figure it out? Thank you!

If any further information needed to provide, please state it out, I will try my best to provide it!