How to record and load waypoints in Autoware.Auto ?

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Hello, I am trying to record waypoint and late replay and follow them using pure pursuit. I am using LGSVL sim and the integration branch of autoware.auto. I want to get to work the simplest example possible :

• Record a bunch of waypoints
• Load those recorded waypoints
• Follow them using pure_pursuit.

I have seen this part of the tutorial. And I have been through the launchfile. And I have noticed that a python file is used to publish the trajectory : simple_trajectory.py but it's only a straight line. (Why not use the trajectory spoofer then ?)

It seems that I need to use the recordreplay_planner but it seems soo complicated for what I want to do. It needs to send actions and the only way without using the parking planner to send those actions is using this python node : joy_ctrl_record_replay_traj.py. But do I really need to use a gamepad to just record waypoints ?

My questions are :

• Do I really need to use the recordreplay_planner ?
• Why is it so complicated ? autoware.ai has two nodes to record and load waypoints it was good and simple no ?
• What are those actions ? How do I use them ? There's nothing about how to use them in the design document. Is there a way to send those actions simply with keyboard and not a gamepad ?

Thanks a lot !