This is the exraction of the mapping from the Autoware
ndt_mapping package
roslaunch ndt_mapping ndt_mapping.launch
to save a map
rosrun pcl_ros pointcloud_to_pcd input:=/ndt_map prefix:=map
roslaunch ndt_mapping ndt_matching.launch
rosrun pcl_ros pcd_to_pointcloud map_0.pcd /cloud_pcd:=/points_map