Localisation not happening

[sidhjeya]

I have been trying to localise the robot using ros cartogrpaher .
below are my configurations

robot.lua

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 10,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10

return options

sid.lua

include "ROBOT.lua"

TRAJECTORY_BUILDER.pure_localization_trimmer = {
  max_submaps_to_keep = 3,
}
POSE_GRAPH.optimize_every_n_nodes = 20

return options

My launch file to launch cartographer localisation

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
import os

def generate_launch_description():
    # Arguments
    load_state_filename = LaunchConfiguration('load_state_filename')
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')

    # Package Share Directory
    pkg_share = FindPackageShare('cartographer_ros').find('cartographer_ros')
    configuration_dir = os.path.join(pkg_share, 'configuration_files')

    # Nodes
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=[
            '-configuration_directory', configuration_dir,
            '-configuration_basename', 'sid_localization.lua',
            '-load_state_filename', load_state_filename
        ],
        # remappings=[
        #         ('/scan', '/scan'),
        #         ('/odom', '/odom'),
        #         ('/imu', '/imu'),
        #     ],
        output='screen',
    )

    occupancy_grid_node = Node(
        package='cartographer_ros',
        executable='cartographer_occupancy_grid_node',
        parameters=[{'use_sim_time': use_sim_time},{'resolution': 0.05}],
        output='screen',
    )

    return LaunchDescription([
        DeclareLaunchArgument('load_state_filename'),
        DeclareLaunchArgument('use_sim_time', default_value='false'),
        cartographer_node,
        occupancy_grid_node,
    ])

RQT_grpah for my robot

tf's of my robot
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