[Autoware 1.14] lane_select says current_pose is missing, but it exists and can be confirmed with echo

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I am trying to use autoware as a autonomous navigation software for my robot (not car). The robot is not running on the road as the main purpose of autoware. I succeeded in mapping, making waypoints, and localizing in real-time.

However, when I try waypoint following: lane_select program gives me the following warnings: - Topic current_pose is missing - Topic current_velocity is missing

My setup is as following:

• Jetson TX2
• Ubuntu 18.04
• ROS Melodic
• CUDA 10.0
• Autoware 1.14 (Master branch, Built with CUDA Support)

Steps to reproduce:\

1. Setup/TF (baselink_velodyne tf publisher)
2. Map/Pointcloud
3. Map/TF (world_map tf publisher)
4. Sensing/VLP-16 and Sensing/voxel_grid_filter
5. Computing/ndt_matching, vel_pose_connect,
6. Rviz (use .config/default.rviz)

vel_pose_connect relaying /ndt_pose to /current_pose and /estimate_twist to /current_velocity, rostopic is published as in the image

Anyone has encounter this problem or have any ideas on how to solve this?

Any helps are very much appreciated. Thank you.