autoware can't receive the sensor information on my car

[mwaiting002]

Checklist

I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md).

I've searched other issues and no duplicate issues were found.

Description

I'm working on the actual car deployment of autoware.universe, but I'm having some problems in the sensing section, autoware can't receive the sensor information on my car.

Expected Behavior

After setting the start and goal points in RViz, the vehicle should start driving and be able to perceive surrounding objects.

Actual Behavior

When launching autoware.launch.xml, it is not possible to set the start and goal points in RViz, and the system fails to perceive surrounding objects.

Environment

• ROS 2 Humble
• Ubuntu 22.04

Relevant Logs

[ERROR] [planning.scenario_planning.parking.costmap_generator]: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree. Tf has two or more unconnected trees.
[WARN] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
[INFO] [system.topic_state_monitor_initialpose3d]: /initialpose3d has not received. Set ERROR in diagnostics.
[INFO] [system.topic_state_monitor_transform_map_to_base_link]: /tf has not received. Set ERROR in diagnostics.
[INFO] [system.topic_state_monitor_obstacle_segmentation_pointcloud]: /perception/obstacle_segmentation/pointcloud has not received. Set ERROR in diagnostics.
[INFO] [system.topic_state_monitor_vehicle_status_velocity_status]: /vehicle/status/velocity_status has not received. Set ERROR in diagnostics.
...

[maxime-clem]

Please provide more information about the hardware you use.
The first thing you should do is check if your sensors are publishing the correct information on the correct topics.

[mwaiting002]

thanks, I will organize my hardware information and send it to you once it's ready.

[felixf4xu]

After setting the start and goal points in RVi

How did you initialize the start point?

Could not find a connection between 'map' and 'base_link'

this is the problem