Hello,

1. An easy issue to point out is that when using simulation, the use_sim_time param for the mola-cli should be set to true. There is currently no launch argument that is passed on to the mola-cli for this purpose. I had to copy the ros2-lidar-odometry.launch.py, and pass the argument myself to get live SLAM to work on a gazebo simulation.

2. After having successfully made a map, verified that it is nice looking via mm-viewer, I loaded the map using the service. So far so good. It appears in the viz and then I can set a pose estimate, and then activate mola via the runtime_parameter_set service. After this, nothing happens. I can verify that the transforms and topic names are all correct. The viz shows the map and the pointcloud, but icp quality remains at 0% and nothing happens. There are no warnings either. What am I doing wrong?
   EDIT: I was stupid enough to save a simple map, convert it to metric map which loses some information, I think. However, when using the service to save the mm, it worked amazingly well!

3. After fixing point 2, I have a minor issue: the pointcloud for the local map is possibly not transformed into the map frame. There is a slight mismatch (close to the transform between map and odom frames) between the raw sensor cloud and the local map. This is only visible in foxglove and not in MOLA VIZ.
   EDIT: Upon further inquiry, it looks like the only problem is that the map->odom transforms have bad timestamps, i.e., not the clock / simulated time, but wall time.

Thanks
Chittaranjan