Procedure

*** Do these on every single terminal ***
***   Under the workspace directory   ***
1. source devel/setup.bash
2. source src/autorally/autorally_util/setupEnvLocal.sh
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3. roscore
4. --new terminal roslaunch autorally_gazebo autoRallyTrackGazeboSim.launch
5. --new terminal rosparam set /FixedInitialPose true
6. roslaunch autorally_core stateEstimator.launch
7. --new terminal roslaunch autorally_control waypointFollower.launch
8. --new terminal roslaunch autorally_control constantSpeedController.launch
9. --new terminal rosrun rqt_publisher rqt_publisher
10. Publish autorally_msgs/runstop with motionEnabled set to true
11. Publish autorally_msgs/chassisState with runstopMotionEnabled set to true
12. Publish /constantSpeedController/speedCommand with speed set to 5 (max)
13. --new terminal rosrun autorally_smartdriving lidarDetection

***Visualization on Rviz***
1. --new terminal rosrun rviz rviz
2. In Rviz, select topics by clicking add.