Localization and Lidar issues Carla 0.10.0 Autoware in Ubuntu 22.04

[A-J-AXE]

[component_container_mt-1] [WARN] [1772219826.994651822] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
[component_container_mt-1] [WARN] [1772219827.093992170] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/right/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
[component_container_mt-1] [WARN] [1772219827.094029190] [sensing.lidar.concatenate_data]: transformed_raw_points[/sensing/lidar/left/pointcloud_before_sync] is nullptr, skipping pointcloud publish.
[logging_node-14] [WARN] [1772219827.125444112] [logging_diag_graph]: The target mode is not available for the following reasons:
[logging_node-14] - /autoware/modes/autonomous ERROR
[logging_node-14] - /autoware/localization WARN
[logging_node-14] - [anonymous group] WARN
[logging_node-14] - /autoware/localization/sensor_fusion_status WARN
[logging_node-14] - /autoware/planning ERROR
[logging_node-14] - /autoware/planning/routing/state ERROR
[logging_node-14] - [anonymous group] ERROR
[logging_node-14] - /autoware/planning/topic_rate_check/route ERROR
[logging_node-14] - /autoware/planning/topic_rate_check/trajectory ERROR
[logging_node-14] - /autoware/control ERROR
[logging_node-14] - /autoware/control/topic_rate_check/trajectory_follower ERROR
[logging_node-14] - /autoware/control/topic_rate_check/control_command ERROR
[logging_node-14]

I am getting these errors, and autonomous mode is just not possible, i also tried with offrendering, but still these errors stay,

Screencast.from.27-02-26.17_27_47.1.1.mp4

below how much resources are used but still these errors stay

Fri Feb 27 20:18:02 2026
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 580.126.09 Driver Version: 580.126.09 CUDA Version: 13.0 |
+-----------------------------------------+------------------------+----------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+========================+======================|
| 0 NVIDIA GeForce RTX 5080 Off | 00000000:01:00.0 On | N/A |
| 0% 44C P1 119W / 360W | 11296MiB / 16303MiB | 82% Default |
| | | N/A |
+-----------------------------------------+------------------------+----------------------+

+-----------------------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=========================================================================================|
| 0 N/A N/A 1843 G /usr/lib/xorg/Xorg 691MiB |
| 0 N/A N/A 1994 G /usr/bin/gnome-shell 162MiB |
| 0 N/A N/A 5921 G ...rack-uuid=3190708988185955192 313MiB |
| 0 N/A N/A 158183 C+G ...ux/CarlaUnreal-Linux-Shipping 7468MiB |
| 0 N/A N/A 158691 C ...onents/component_container_mt 1390MiB |
| 0 N/A N/A 159073 C ...onents/component_container_mt 920MiB |
| 0 N/A N/A 159472 G /opt/ros/humble/lib/rviz2/rviz2 184MiB |

[A-J-AXE]

[autoware_ekf_localizer_node-29] [WARN] [1772222102.241364471] [localization.pose_twist_fusion_filter.ekf_localizer]: The Mahalanobis distance 75.9228 is over the limit 49.5000.

[amadeuszsz]

@A-J-AXE
Please take a look on https://autowarefoundation.github.io/autoware-documentation/main/installation/additional-settings-for-developers/network-configuration/dds-settings/

[A-J-AXE]

perfect than you for your response! I will try it! Are you also using Carla?

[amadeuszsz]

@A-J-AXE

perfect than you for your response! I will try it! Are you also using Carla?

Currently not, but your problem is quite common and can usually be solved with DDS configuration

[A-J-AXE]

due to the nature of CARLA ROS2 interface, only Fast DDS is supported; it is not possible to change the DDS vendor;
autowarefoundation/autoware_launch#1463 (comment)

Do you have any idea what the right commands are for Fast DDS

As the link you send is only for CycloneDDS
CycloneDDS Configuration#
Save the following file as ~/cyclonedds.xml.

[amadeuszsz]

Apologies for previous fix recommendation - that common DDS issue does not apply for Carla.

Seems there is ongoing development, try this docs.