# Lane driving scenario

## 1\. Launch Autoware

```bash
source ~/autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
```

> [!WARNING]
>
> Note that you cannot use `~` instead of `$HOME` here.
>
> If `~` is used, the map will fail to load.

## 2\. Set an initial pose for the ego vehicle

a) Click the `2D Pose estimate` button in the toolbar, or hit the `P` key.

b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. An image representing the vehicle should now be displayed.

> [!WARNING]
>
> Remember to set the initial pose of the car in the same direction as the lane.
>
> To confirm the direction of the lane, check the arrowheads displayed on the map.

## 3\. Set a goal pose for the ego vehicle

a) Click the `2D Goal Pose` button in the toolbar, or hit the `G` key.

b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. If done correctly, you will see a planned path from initial pose to goal pose.

## 4\. Start the ego vehicle

Now you can start the ego vehicle driving by clicking the `Auto` button in the `AutowareStatePanel`. Alternatively, you can manually start the vehicle by running the following command:

```bash
source ~/autoware/install/setup.bash
ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode {}
```

After that, `Auto` button will be selected and grayed out.