GNSS localization in Autoware.AI

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I tried to launch Autoware with LGSVL simulation and used the GNSS localizer. I followed the tutorial to comment out the ndt_matching node in the launch file. However, I found some tf messages are missing and I can not see the raw point cloud in the rviz. As a result, the planning and control modules can not work.

I have to manually enable the ndt_matching to launch the Autoware. Is there any possibility that I could use GNSS localization only and run Autoware with LGSVL?

Thanks!