vehicle not moving with Carla-Autoware

[tecena]

Hi , I am new to autoware. I have been trying to execute carla open scenario files with autoware, where the ego is completely controlled by autoware. 1.Carla 0.9.11 is set-up in a windows machine. 2.I have followed the https://github.com/carla-simulator/carla-autoware to setup carla-autoware in ubuntu. 3.This docker image pulls the ros bridge as well as carla-autoware-bridge. 4.When I run the cmd roslaunch carla_autoware_agent carla_autoware_agent.launch the carla-autoware is getting connected to carla simulator as I am able to fetch clock data from rostopics. 5.Now when I try to run a scenario and use autoware as a controller, I did start the FolloLeadingVehicle.xosc file in carla with scenariorunner and did run the launch file roslaunch carla_autoware_agent carla_autoware_agent.launch from autoware , just vehicles in scenario gets spawned but the vehicle does not move at all and there are couple of errors and warnings on the autoware treminal [ INFO] [1655377342.896036185, 713.344599086]: DecisionMaker is waiting filtered_point for NDT [ WARN] [1655377342.896326826, 713.344599086]: Necessary topics are not subscribed yet. Waiting... [ WARN] [1655377342.896790692, 713.344599086]: Necessary topics are not subscribed yet ... [ WARN] [1655377342.906116402, 713.394599087]: Necessary topics are not subscribed yet ... [ WARN] [1655377342.906975138, 713.394599087]: Necessary topics are not subscribed yet ... [ WARN] [1655377342.916686490, 713.444599088]: Necessary topics are not subscribed yet ... [ERROR] [1655377342.925575422, 713.494599089]: Could not find a connection between 'velodyne' and 'map' because they are not part of the sametree.Tf has two or more unconnected trees.

I tried alot to find the solution , but unable to understand how to solve these errors and why ego vehicle is not moving in openscenario execution with autoware. Please help