localization error

[AOOOOOA]

Describe the bug

In what area(s)?

/area runtime

Steps to Reproduce the Problem

Steps to reproduce the behavior:

1. Run this command in the container to start Dreamview: ./scripts/bootstrap.sh
2. Start the bridge and spawn the ego vehicle: python carla_cyber_bridge/bridge.py and python carla_spawn_objects/carla_spawn_objects.py
3. Start a co-simulation: Open apollo client: http://localhost:8888
4. run main.py in modules/carla_bridge/

Expected Behavior

Expected the vehicle can successfully run with every module normally executed.

Actual Behavior

The localization module in DreamView shown as "Error".

I checked the log file and it reports: "Reflectance map folder is invalid".

First I followed the comment #178 (comment) but it failed with the error

E0630 19:55:41.157631 21386 rtk_localization.cc:388] [localization]Cannot find Matching IMU. IMU messages too old. Newest timestamp[1.71975e+09], GPS timestamp[1.71975e+09]

Then I followed the instruction in Apollo repo to change the mode in /modules/localization/conf/localization_config.pb.txt from MSF to RTK. I also changed the
key:Localization's dag_files in /apollo/modules/dreamview/conf/hmi_modes/mkz_standard_debug.pb.txt to dag_streaming_rtk_localization.dag.
But the dreamview also shows the Warn as:Localization: ERROR: Error: Current Localization Status Is Missing.

Why is it happened and how to fix it? I found users report the same problem in
#178

Environments (please complete the following information):

• System info: [use uname --all on LInux]
• Cuda version [use nvidia-smi]
• Docker version [use docker -v]
• Docker-compose version [use docker-compose -v]
• Versions of other dependent software...

Additional context

What version of carla_apollo_bridge?

0.2.x
0.1.x
edge: output of git describe --dirty

Release Note

RELEASE NOTE: