Localization drift issue

[mertyavuz41]

He have observed localization drift issue while executing field test of autoware 0.45.0 version.

Here the assets: https://netorgft4229778-my.sharepoint.com/:f:/g/personal/mert_adastec_com/Ek8kLQ_gVA1GvhsG-21tctgBrzr1iyc4SKt0KRCDnhJJ9Q?e=fNFTo6

Issue bag; https://netorgft4229778-my.sharepoint.com/:f:/g/personal/mert_adastec_com/ElHQqJDoahBBt-QZEcraJgcBp1qZOTHDIz3WeNUvTViOpw?e=WGVf71

[davutcanakbas]

Test Results with Default Configuration

I tested the same Autoware 0.45.0 setup with your rosbag, and localization is working correctly:

My Configuration:

• ✅ All default launch files (no modifications)
• ✅ Default NDT parameters
• ✅ Default EKF parameters
• ✅ Standard logging_simulator.launch.xml

Results:

• NDT pose output: ~5.4 Hz (stable)
• EKF fusion: ~40 Hz (stable)
• No immediate drift observed in the short test

test_result.zip

Question:
Did you modify any launch files or parameters compared to default? Specifically:

• NDT scan matcher parameters (convergence threshold, iteration count, etc.)?
• EKF localizer settings (process noise, measurement noise)?
• Pointcloud preprocessing (voxel size, downsample ratio)?
• Any custom launch configurations?

Asking because the default setup appears to work in my test, wondering if the drift issue is related to specific parameter tuning or configuration changes.