What is the smallest collection of node to perform waypoint following in Autoware

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I am trying to test a custom vehicle interface software by having the vehicle perform waypoint following of recorded waypoints from "waypoint_saver" but I cannot figure out the appropriate nodes to run.

I have identified these nodes so far: pure_pursuit->twist_filter->twist_gate->custom_software.

I know the pure_pursuit node subscribes to a "final_waypoints" topic and "velocity_set" publishes a "final_waypoints". I am unsure which nodes to start to connect "waypoint_loader" to "velocity_set" (if this is even correct).

waypoint_loader->????->?velocity_set->pure_pursuit->twist_filter->twist_gate->custom_software

Any help on figuring out the appropriate nodes would be appreciated.