# Get on and get off

When the vehicle stops at a bus stop or a pickup point, the application opens the doors for the passengers and closes them before the vehicle starts again. This use case needs a vehicle that has a software interface for the doors.

## Related API

- [Vehicle doors](<../../features/vehicle-doors/index.md>)

## Sequence

Open the doors for the passengers, then close them.

1. **Find the doors.** Call [/api/vehicle/doors/layout](<../../list/api/vehicle/doors/layout/index.md>). Use the `roles` field to find the doors for getting on (`GET_ON`) and getting off (`GET_OFF`).
2. **Open the doors.** Call [/api/vehicle/doors/command](<../../list/api/vehicle/doors/command/index.md>) with the `OPEN` command for these doors.
3. **Wait for the passengers.** Watch [/api/vehicle/doors/status](<../../list/api/vehicle/doors/status/index.md>) and your own passenger checks.
4. **Close the doors.** Call [/api/vehicle/doors/command](<../../list/api/vehicle/doors/command/index.md>) with the `CLOSE` command. Wait until the status of all doors is `CLOSED`.

## Restrictions

The default implementation (`vehicle_door` node of `autoware_default_adapi_universe`) rejects a door command in these cases:

- The command opens a door and the operation mode is not stop.
- Autoware control is disabled. Set the `check_autoware_control` parameter to `false` to allow door commands during direct control.