Offset map in RVIZ (Carla & Autoware)

[nawfalz]

Hi all,

I am trying to set up a simulated environment with Town02.
I am seeing that there is an offset in the map when I load it in via Autoware.AI. This is the same for any maps I load in. Attempts to reposition the vehicle to the actual map will trigger a crash in Carla as the PCD map in RVIZ appears to be out of bounds. I have tried publishing a tf2_ros static_transform_publisher to adjust the map and ego_vehicle frames however it does not seem to work. Below are screenshots of the problem as well the tf_tree.

I am using the following:

• Autoware.AI v1.14.0 running on Ubuntu18 WSL2
• Carla v0.9.15 running on Windows

I am using carla_spawn_objects ros package to spawn the car in the simulator.