The result are totally wrong

[lucasjinreal]

Hi, I try to run tracking with localization but it crashed, so I run it using static, however, here is the result:

As you can see, the result are really bad.

Using localization enable there was an erro;

[ INFO] [1554198724.217023512, 1509348797.223132018]: search_method DIRECT7 is selected
[ INFO] [1554198724.217733968, 1509348797.223132018]: initialize pose estimator with specified parameters!!
[ INFO] [1554198724.222885185, 1509348797.233190960]: enable imu-based prediction
[ INFO] [1554198724.252989256, 1509348797.263452978]: create people detector
[ERROR] [1554198724.371459287, 1509348797.384917853]: globalmap has not been received!!
[ERROR] [1554198724.469907547, 1509348797.475566884]: globalmap has not been received!!
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0402 17:52:04.489428 10251 globalmap_server_nodelet.cpp:57] loading globalmap from: /media/jintain/wd/catkin_ws/src/hdl_localization/data/map.pcd
[ERROR] [1554198724.558325395, 1509348797.566369320]: globalmap has not been received!!
[ERROR] [1554198724.655749332, 1509348797.667289002]: globalmap has not been received!!
[ERROR] [1554198724.770443074, 1509348797.778099350]: globalmap has not been received!!
[ INFO] [1554198724.868525791, 1509348797.878839948]: globalmap received!
I0402 17:52:04.868526 10283 hdl_people_detection_nodelet.cpp:166] globalmap received!
[ERROR] [1554198724.873166629, 1509348797.878839948]: globalmap has not been received!!
I0402 17:52:04.928220 10283 hdl_people_detection_nodelet.cpp:171] background subtractor constructed
[velodyne_nodelet_manager-1] process has died [pid 10251, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=velodyne_nodelet_manager __log:=/home/ww/.ros/log/3275e8da-5450-11e9-8cb9-3497f693b553/velodyne_nodelet_manager-1.log].

How to run it properly? And why using static the result are bad?