Autoware.Auto Localization gets lost when turning in certain spots of the map

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Hi,

I'm having this issue that when I'm using the localization system in Autoware.Auto, the car gets lost when it turns too fast, enters a relatively long corridor or just plain whenever it wants.

VIDEO Of localization failing at the end

I thought it was the PCL that wasn't high def enough but I generated a more detailed pcl with as far as I see enough details to make a good localization, but it just gest lost.

It seems its a reported issue here: ISSUE But it's a YEAR OLD post so I thought that would have improved.

So I'm using these files:

localizer.launch.py

ndt_localizer.param.yaml

map_provider.launch.py

map_publisher.param.yaml

My question is then:

1) How could I improve this so that the localization works ok. Any suggestions on changing sampling rate, voxel sizes, using an alternative to Autoware.Auto localization system?

2)Why aren't we using GPS and other sensors for localization improvement? the p2d_ndt_localizer_exe I don't see anywhere its using any data except the PCL and the lidar sensor.