After rrviz init pose provides the initial pose, the point cloud and PCD map are matched, but the point cloud is immediately moved to another position.

[YamashitaYz]

Hello everyone, I am using the positioning and navigation function of Autoware.universe(humble) indoors. My sensors include a nine-axis IMU, lidar-rs16, and a car. After starting autoware.universe according to the tutorial, I use [2D Pose Estimate] in rivz to define the initial position of the vehicle. When the [INITIALIZED] button turns green, the point cloud and PCD map match perfectly, but this only lasts for a few seconds. Soon, the lidar point cloud changes to another position. The topic data of the IMU is normal, with no mutations, and the topic of /initialpose is only published once. I don't understand why this happens. Where should I start debugging this problem?

screenshot_2025-03-17.mp4

[YamatoAndo]

@YamashitaYz Hi, Could you share your rosbag and map? I'll try with your dataset.

[YamatoAndo]

Do you use the default parameters to run positioning and navigation so that there is no misalignment?

I am using the latest Autoware with the default parameters.

[YamatoAndo]

@YamashitaYz Your repository was only partially uploaded. Could you upload again?

[YamashitaYz]

@YamashitaYz Your repository was only partially uploaded. Could you upload again?

@YamatoAndo ,I'm very sorry, I didn't check the code after uploading it, it's my fault, please forgive me. Now it has been updated and uploaded. https://github.com/YamashitaYz/autoware

[YamatoAndo]

@YamashitaYz Sorry... Even when using your customized Autoware, it works without any issues, so I can't determine the cause.

[YamashitaYz]

@YamashitaYz Sorry... Even when using your customized Autoware, it works without any issues, so I can't determine the cause.

@YamatoAndo Ando-san,Thank you for your patient guidance. Actually, I tried to modify the converged_param_type parameter in the https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml . After changing it from the original 0 to 1, the value of converged_param_type was changed to 1.5 and then tried to locate. At this time, there was no misalignment. But you said that the test using my code is normal. I am very confused. I am using Jetson Orin Nx 16GB hardware and I am not sure if it is caused by the hardware.
After modifying the parameters, a new problem arises: After modifying these two parameters, when I publish a target location, rviz shows that the path has been planned and the path is green, but the [Auto] button is gray and I cannot click this button. Do you have any ideas to solve this problem?