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Autoware NDT matching, no transform from /map to /base_link


I am trying to implement NDT localization with GNSS. But I couldn't get it run successfully. Seems that I could not get the transformation from /map to /base_link through "ndt_matching" algorithm. The following is the launch file I have defined: <launch> <node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 10"/> </launch>

Besides, I also launch the node which publishes "base_link" to "localizer".