I am experiencing an issue with NDT matching. Can anyone help me with this?

[silly-h]

We are using the Galactic version of autoware.universe and are experiencing issues with the NDT matcher in the point cloud processing. Our matching scores are very low, sometimes even zero. We have tried modifying the parameters in the \autoware\src\universe\autoware.universe\launch\tier4_localization_launch\config directory, but it has not been effective. Attached are our config files, as well as our ros2bag point cloud map files.
config.zip
launch.log

map [(https://drive.google.com/file/d/1P2wLHIvb0h-m4jg02DweaZlUPNVYATNo/view?usp=drive_link)]
rosbag[https://drive.google.com/file/d/1EHPwumBkZPWhBKyd227cgg51xsXqyM-Q/view?usp=drive_link]

[liuXinGangChina]

1.看你的点云地图和雷达点云没有问题
2.你下载的是默认的代码版本？版本分支是？
3.我看了下你的点云，应该是速腾或者velodybe的16线雷达，大概率你用默认的ndt参数应该能跑起来。除了ndt你还改了哪些参数。

加油，重大学子！

[silly-h]

刘工，您好：
1. 我下载的是 Galactic 版本的代码，版本分支也是 galactic。
2. 除了 NDT，我们还修改了以下参数：
• voxel_grid_filter.param.yaml：体素采样参数设置为 0.1。
• random_downsample_filter.param.yaml：采样点数设置为 3000。

哈哈哈哈，非常开心可以看到中文的回复。最后也非常感谢您的帮助！！！

[liuXinGangChina]

采样体素设置的太小了，这会导致参与ndt计算的点过多，从你的地图看你的降采样参数设置3即可

[liuXinGangChina]

hello, 换了参数以后，车子跑起来了吗？
@silly-h

[liuXinGangChina]

Since the answer has been there for a while and no further question, i will mark this one answered and close it.