Yamato Ando

> The vehicle repeats driving and stopping, and it just stops at all. I think it's because the LiDAR point cloud is hitting the back of the vehicle.

Please crop the LiDAR point cloud. Alternatively, consider placing the LiDAR in a position where it doesn't hit the vehicle body.It might be better to set it at a higher...

> Maybe I should adjust [here](https://github.com/evshary/autoware_carla_launch/blob/b9e3161b2515ab3ed1940141c7ac2d0192341225/src/carla_sensor_kit_description/config/sensor_kit_calibration.yaml#L59) and [here](https://github.com/evshary/zenoh_carla_bridge/blob/3155fa866e92f9dcf8fd768b4047c81badc45253/carla_agent/simulation/sensors/lidar.py#L23) both. Could you please confirm it? Please configure the sensor placement in ROS to match the sensor placement in the simulator. Probably,...

> Would it make sense to have this script somewhere like https://github.com/autowarefoundation/autoware_tools? I think it is a good idea! @youtalk @mitsudome-r What do you think?

@youtalk Sure! I will collaborate with @a-maumau to make the PR.

@TaikiYamada4 Please set "transient local"

I checked the rosbag. It seems that the vehicle is drifting significantly, because of the low-friction area. The [motion model implemented in the ekf_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ekf_localizer#kinematics-model-in-update-function) may not be able to handle...