Implementing different ways of Waypoint following autoware

edit

I was wondering what are some different ways of implementing waypoint following in autoware.

As far as I can tell there are different ways/nodes to do this. I found this link before previous answers.ros question

but i wanted to see what other collection of nodes can achieve waypoint following. I am planning to test this using Carla or some other simulation software (we have used carla before) and have a real vehicle for testing on an airfield as well. Do I need to have the kinematics for the vehicle as well?

Thanks