Is any demo exists in AutowareAuto that work without parking slot as goal position

edit

Hi,

I was trying to run the AVP demo using my map and I am able to run that demo successfully using the initial pose and goal pose of the parking slot.

Question -

Is there any demo that exists in AutowareAuto that will work without using the parking as a goal pose?

For example - If I want to drive my ego vehicle from the starting point (initial position) to the endpoint (goal position) using autoware_auto but the goal position is not a parking slot, it's a predefined position of the map.

If not then what are changes do I need to be made in the AVP demo or how I can develop that demo using the AutowareAuto.

Any help would be appreciated.

Regards,

Rahul