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To drive following the HD map follow these steps:

Start Mission Planning launch file in Autoware Runtime Manager.
In rviz, mark a destination by clicking '2D Nav Goal' and clicking at the destination and dragging along the road direction. Make sure to only choose a route that looks valid along the lane centerlines that are marked with orange lines in rviz. If an invalid destination is selected nothing will change in rviz, and you will need to relaunch the Mission Planning launch file in the Quick Launch tab to try another destination. After choosing a valid destination the route will be highlighted in blue in rviz.
Lastly, start Motion Planning launch file. then ego vehicle starts driving autonomously.

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