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Using Autoware in Matlab simulation

Hi all,
I am going to make a simulation of self-driving cars with Matlab and Autoware. In Matlab, there is a scenario generation that creates a simple scenario to analyse the self-driving vehicle action(for example in front of several actors). I want to use Autoware as my decision making algorithms. Actually create a connection between Matlab and Autoware is my purpose. At the first stage, I want to use a simple scenario which is facing a pedestrian. As you know Autoware needs to load map and sensor data. But here I don’t have any of them. In fact, I want to use pure pursuit algorithm.
I appreciate if you can give me some point to make this connection.

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