# Scenario test simulation

> [!NOTE]
>
> Running the Scenario Simulator requires some additional steps on top of building and installing Autoware, so make sure that [Scenario Simulator installation](<../installation/index.md>) has been completed first before proceeding.

## Running steps

1. Move to the workspace directory where Autoware and the Scenario Simulator have been built.
2. Source the workspace setup script:

   ```bash
   source install/setup.bash
   ```
3. Run the simulation:

   ```bash
   ros2 launch scenario_test_runner scenario_test_runner.launch.py \
     architecture_type:=awf/universe/20250130 \
     record:=false \
     scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
     sensor_model:=sample_sensor_kit \
     vehicle_model:=sample_vehicle \
     use_custom_centerline:=true \
     rviz_config:=$(ros2 pkg prefix autoware_launch)/share/autoware_launch/rviz/scenario_simulator.rviz
   ```

> [!TIP]
>
> **Run a scenario with Docker**
>
> The Autoware repository has a Docker Compose example in [`docker/examples/demos/scenario-simulator`](<https://github.com/autowarefoundation/autoware/tree/2.0.0/docker/examples/demos/scenario-simulator>). It runs the planning simulator with `scenario_simulation:=true` in one container and `scenario_test_runner` in another. It uses the scenario from the [autoware\_sample\_scenarios](<https://github.com/autowarefoundation/autoware_sample_scenarios>) repository and the [sample map](<../../../planning-simulation/#download-the-sample-map>).

[Reference video tutorials](<https://user-images.githubusercontent.com/102840938/206996920-758b62ae-270a-497c-8a72-f9e4867df695.mp4>)