Car unable to localise on Autoware launch

[keviny01]

Hi all,
I am trying to launch the full Autoware stack and I am having issues with car localisation using NDT. Currently the only sensor we are using is a Velodyne VLP-16 and a map and lanelet was made with this LIDAR in the room the car is located in. I am able to place a inital 2D pose estimate, however when I place this down, the car initialises someplace else and starts moving erratically in the map and does donuts. I can see the NDT scan matches score is low in the rqt diagnostic monitor, however I made the map in the exact spot the car is in, so theoretically it should be a perfect match? I've also reduced the required distance in ndt_scan_matcher.param.yaml from 10m to 3m as the LIDAR isn't in an environment that could read 10m. I've also changed some of the LIDAR preprocessing code to accept only 1 LIDAR input. Any insights into why I can't get the car to localise would be greatly appreciated.

I've uploaded the rosbag and the console logs of my launch to this google drive link: https://drive.google.com/drive/folders/1WsfRMyywmaAyGdJmjl8nLWX663QHR4w5?usp=sharing