How to analysis localization using rosbag replay?

[cjffly]

Hi,

So I have map with pcd and lanelet2 info correctly loaded in autoware, and I have a rosbag recording the ego vehicle's lidar data and odometry data, I can use ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit and ros2 bag play to replay the bag and visualize the replay data in rivz as shown below.

I want to know how to do analysis localization accuracy? In other words, is there a way to tell:
based on the lidar data, how close the NDT result can matches the odometry.position data ?

(the colored point cloud is the lidar data from the bag, while the red line is the odometry data)

[cjffly]

[update] OK, I intentionally shift (pcl_transform_point_cloud) the pcd map, then I launch autoware, and the rosbag replay didn't match the map. Seem a simple rosbag replay doesn't trigger any localization?