Wrong transforms and localization in map when running

[lostDeers]

I build a full map (include PCD map build with LIO-SAM and vector map) following the official guide. But when I run autoware with it, I find some mistake.

1. The localization is wrong. When I press initialize with GNSS button in the panel, the position shown in map is not the read position vehicle on. I have tried to move the vehicle to other position, but got the same wrong position.
2. The transform is wrong. For debugging, I add TF display in rviz. But It seems that the vehicle in rviz2 did not move to the correct direction in the real map.
   What causes these problems? Could somebody help me? I will show the config of my map.

map_projector_info.yaml

# map_projector_info.yaml
projector_type: TransverseMercator
vertical_datum: WGS84
map_origin:
  latitude: {real latitude} # [deg]
  longitude: {real longitude} # [deg]
  altitude: 0.0 # [m]

map_config.yaml

/**:
  ros__parameters:
    map_origin:
      latitude: {real latitude} 
      longitude: {real longitude} 
      elevation: 0.0
      roll: 0.0
      pitch: 0.0
      yaw: 0.0