Does the relocalization functionality support localization from maps generated with different rosbag data?

[milesprieb]

I am attempting to use the package for re-localization based on previously generated and modified maps. I am generating the first map with FAST_LIO from rosbag data (ouster lidar). I am then publishing lidar scans from a separate rosbag recorded from a different run, and trying to re-localize in the map. The map has stayed generally the same; however, there are slight differences such as cars having moved around. The first picture shows the original SLAM generated trajectory from FAST_LIO. The second picture shows the re-localized trajectory, where the path is colliding with the global map that was previously generated and has been modified. Is this a user error or a bug?

[lvpengxiang]

Could you please tell me how you handled this issue later?