Position of ego in lg simulator and AutowareAuto avp-demo are mismatch

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Hi

I tried to run the AutowareAuto AVP demo using the LG simulator and have few observations while running-

1). The position of the ego vehicle in the Lg simulator and Avp-demo are not in sync/mismatch. Sometimes the position of ego in the LG simulator is ahead of the position of the vehicle in the AVP demo.

2). In the AVP demo, the vehicle required a parking slot as the goal position but it never parked in the defined parking slot and move ahead of the parking slot.

3). Lg simulator ego is controlled by AutowareAuto, so the speed of the ego is too fast sometimes.

Is there any specific reason for the above behavior or any step I had missed while setup the AVP demo?

I am using the below setup -

 Lg simulator version       - 2020.06

 Bridge                     - ros2-lgsvl-bridge

Please let me know if you have any queries regarding the same

Regards,

Rahul