Hi the description of my issue is also here https://github.com/lgsvl/simulator/issues/1663 And the video of my attempt described below is also here: https://www.youtube.com/watch?v=IkQlNmrlW-E As I could not find other PCD maps on AutowareAuto/src/launch/autoware_demos/data folder I decided to get the .pcd files already available on AutowareAI repo: https://github.com/lgsvl/autoware-data/blob/master/BorregasAve/data/map/pointcloud_map/BorregasAve.pcd Then I have modified and created new launch files from ones given in the AVP autonomous stuff demo: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/avpdemo.html I have build the workspace: ``` $cd AutowareAuto $colcon build ``` And then I have launched the new launch file which contains the BorregasAve PCD. I would like to understand **how to use different maps on AutowareAuto** to visualize on rviz2? In addition I am not sure if just exchange the PCD file will work, because there is another file target called **autonomousstuff_parking_lot_lgsvl.yaml** that **has some parameters such as longitude/latitude** and other ones that I am not sure how to configure for another map, such as BorregasAVe:  **Could someone assist me to launch AutowareAuo in a way I can pass to rviz2 the map data? I wish to test the global and the behavior planners in other maps than the AutonomousStuff.** Thanks in advance