Autoware: NDT mapping just outputs zero pose

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Hi,

I am running ndt_mapping on a demo bag file (sample_moriyama_150324.bag). I am able to visualize /point_raw on rviz, but I couldn't see /ndt_map. I checked the topics related to ndt_mapping and found that the estimated transformation matrix is always zero.

Does anyone have an idea? My environment is Ubuntu18 and ROS melodic

Here are the steps to reproduce.

1. Download the demo bag file and setup Autoware master version (followed https://github.com/Autoware-AI/autowa...)
2. Launch runtime_manager
3. Play and pause .bag file
4. In Setup tab, Launch tf of velodyne and map
5. In Computing tab, Launch ndt_mapping
6. Launch Rviz
7. Cancel the pause of .bag file