diff --git a/Dockerfile b/Dockerfile
index 822649f..031d623 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -243,15 +243,20 @@
     catkin_make -DCMAKE_BUILD_TYPE=Release && \
     source ~/catkin_ws/devel/setup.bash
 
+RUN cd /home/$USERNAME && \
+    git clone https://github.com/carla-simulator/scenario_runner.git -b v${CARLA_VERSION}
+
 RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc && \
-    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc 
+    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc && \
+    echo "export SCENARIO_RUNNER_PATH=/home/$USERNAME/scenario_runner" >> ~/.bashrc
 
 USER root
 WORKDIR /root
 RUN echo "alias m='cd /home/$USERNAME ; su $USERNAME'" >> /root/.bashrc
 
 
-COPY run.sh /run.sh
+COPY startup.sh /startup.sh
+COPY scripts/ /home/$USERNAME/scripts/
 EXPOSE 5900
 EXPOSE 8081 
-CMD ["bash", "/run.sh"]
+CMD ["bash", "/startup.sh"]
diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..c556400
--- /dev/null
+++ b/build.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+if [ ! -e ./cuda-repo-ubuntu1804-11-2-local_11.2.2-460.32.03-1_amd64.deb ]; then
+  wget https://developer.download.nvidia.com/compute/cuda/11.2.2/local_installers/cuda-repo-ubuntu1804-11-2-local_11.2.2-460.32.03-1_amd64.deb
+fi
+if [ ! -e ./AdditionalMaps_0.9.10.1.tar.gz ]; then
+  wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.10.1.tar.gz
+fi
+
+docker build -t carla0910a . && \
diff --git a/run.sh b/run.sh
index 1d22c35..b545c1c 100755
--- a/run.sh
+++ b/run.sh
@@ -1,30 +1,15 @@
-# inside docker script
-trap 'kill $(jobs -p)' EXIT
-
-# 0. generate xorg.conf
-BUS_ID=$(nvidia-xconfig --query-gpu-info | grep 'PCI BusID' | sed -r 's/\s*PCI BusID : PCI:(.*)/\1/')
-nvidia-xconfig -a --virtual=$RESOLUTION --allow-empty-initial-configuration --enable-all-gpus --busid $BUS_ID --use-display-device="DFP-0" --connected-monitor="DFP-0"
-
-# 1. launch X server
-Xorg :0 &
-sleep 1  # wait for the server gets ready
-
-# 2. start x11 and vnc connection
-# to inspect logs in detail, use --verbose
-x11vnc -display :0 -passwd $VNCPASS -forever -rfbport 5900 -ncache 10 &
-sleep 2  # wait for the server gets ready
-
-# 2.5 start audio
-# this is not required.
-# pulseaudio --start
-# sleep 2
-
-# 3. start noVNC
-/noVNC-1.2.0/utils/launch.sh --vnc localhost:5900 --listen 8081 &
-sleep 2
-
-echo 'running noVNC at http://docker_ip:6080/vnc_lite.html'
-
-# 3. start simulator
-export DISPLAY=:0
-openbox
+# docker run --device=/dev/tty0:rw -it --rm --gpus all \
+docker run --privileged -it --rm --gpus all \
+  -p 6080:8081 \
+  -p 5901:5901 \
+  -p 2000-2002:2000-2002 \
+  -v /dev/shm:/dev/shm \
+  -e NVIDIA_VISIBLE_DEVICES=all \
+  -e NVIDIA_DRIVER_CAPABILITIES=compute,graphics,display \
+  -e QT_X11_NO_MITSHM=1 \
+  -e SDL_VIDEODRIVER=x11 \
+  -e VNCPASS=pass \
+  -e RESOLUTION=1920x1080 \
+  --shm-size=512mb \
+  --net bridge \
+  --name carla0910a carla0910a
diff --git a/scripts/carla_ad_agent.sh b/scripts/carla_ad_agent.sh
new file mode 100755
index 0000000..a78be5f
--- /dev/null
+++ b/scripts/carla_ad_agent.sh
@@ -0,0 +1,2 @@
+export SCENARIO_RUNNER_PATH=~/scenario_runner
+roslaunch carla_ad_agent carla_ad_agent.launch
diff --git a/scripts/carla_ad_demo.sh b/scripts/carla_ad_demo.sh
new file mode 100755
index 0000000..6d78b32
--- /dev/null
+++ b/scripts/carla_ad_demo.sh
@@ -0,0 +1,2 @@
+export SCENARIO_RUNNER_PATH=~/scenario_runner
+roslaunch carla_ad_demo carla_ad_demo_with_scenario.launch
diff --git a/scripts/carla_ad_demo0.sh b/scripts/carla_ad_demo0.sh
new file mode 100755
index 0000000..4634301
--- /dev/null
+++ b/scripts/carla_ad_demo0.sh
@@ -0,0 +1,2 @@
+export SCENARIO_RUNNER_PATH=~/scenario_runner
+roslaunch carla_ad_demo carla_ad_demo.launch
diff --git a/scripts/launchcarla.sh b/scripts/launchcarla.sh
new file mode 100755
index 0000000..171f267
--- /dev/null
+++ b/scripts/launchcarla.sh
@@ -0,0 +1 @@
+roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch vehicle_filter:='vehicle.toyota.prius*'
diff --git a/scripts/launchcarla0.sh b/scripts/launchcarla0.sh
new file mode 100755
index 0000000..f156094
--- /dev/null
+++ b/scripts/launchcarla0.sh
@@ -0,0 +1 @@
+roslaunch carla_ros_bridge carla_ros_bridge.launch
diff --git a/scripts/launchcarla1.sh b/scripts/launchcarla1.sh
new file mode 100755
index 0000000..853bce7
--- /dev/null
+++ b/scripts/launchcarla1.sh
@@ -0,0 +1 @@
+roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch vehicle_filter:='vehicle.toyota.prius*'
diff --git a/scripts/setcarla.sh b/scripts/setcarla.sh
new file mode 100755
index 0000000..7fca5b1
--- /dev/null
+++ b/scripts/setcarla.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town03 
diff --git a/scripts/setcarla01.sh b/scripts/setcarla01.sh
new file mode 100755
index 0000000..7760119
--- /dev/null
+++ b/scripts/setcarla01.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town01
diff --git a/scripts/setcarla02.sh b/scripts/setcarla02.sh
new file mode 100755
index 0000000..28045f5
--- /dev/null
+++ b/scripts/setcarla02.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town02 
diff --git a/scripts/setcarla04.sh b/scripts/setcarla04.sh
new file mode 100755
index 0000000..8cbd8ba
--- /dev/null
+++ b/scripts/setcarla04.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town04 
diff --git a/scripts/setcarla05.sh b/scripts/setcarla05.sh
new file mode 100755
index 0000000..541e55e
--- /dev/null
+++ b/scripts/setcarla05.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town05
diff --git a/scripts/setcarla06.sh b/scripts/setcarla06.sh
new file mode 100755
index 0000000..a0257ac
--- /dev/null
+++ b/scripts/setcarla06.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town06
diff --git a/scripts/setcarla07.sh b/scripts/setcarla07.sh
new file mode 100755
index 0000000..ecb7105
--- /dev/null
+++ b/scripts/setcarla07.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town07 
diff --git a/scripts/setcarla10.sh b/scripts/setcarla10.sh
new file mode 100755
index 0000000..543254c
--- /dev/null
+++ b/scripts/setcarla10.sh
@@ -0,0 +1,2 @@
+cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+python util/config.py -m Town10HD 
diff --git a/scripts/startcarla.sh b/scripts/startcarla.sh
new file mode 100755
index 0000000..738207f
--- /dev/null
+++ b/scripts/startcarla.sh
@@ -0,0 +1,4 @@
+cd /home/$USERNAME/CARLA_0.9.10.1
+./CarlaUE4.sh -windowed -ResX=160 -ResY=120 -opengl
+#SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl -quality-level=Low
+#SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl 
diff --git a/server.sh b/server.sh
deleted file mode 100755
index 1fcd21b..0000000
--- a/server.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-if [ ! -e ./cuda-repo-ubuntu1804-11-2-local_11.2.2-460.32.03-1_amd64.deb ]; then
-  wget https://developer.download.nvidia.com/compute/cuda/11.2.2/local_installers/cuda-repo-ubuntu1804-11-2-local_11.2.2-460.32.03-1_amd64.deb
-fi
-if [ ! -e ./AdditionalMaps_0.9.10.1.tar.gz ]; then
-  wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.10.1.tar.gz
-fi
-
-docker build -t sim . && \
-# docker run --device=/dev/tty0:rw -it --rm --gpus all \
-docker run --privileged -it --rm --gpus all \
-  -p 6080:8081 \
-  -p 5901:5901 \
-  -p 2000-2002:2000-2002 \
-  -v /dev/shm:/dev/shm \
-  -e NVIDIA_VISIBLE_DEVICES=all \
-  -e NVIDIA_DRIVER_CAPABILITIES=compute,graphics,display \
-  -e QT_X11_NO_MITSHM=1 \
-  -e SDL_VIDEODRIVER=x11 \
-  -e VNCPASS=pass \
-  -e RESOLUTION=1920x1080 \
-  --shm-size=512mb \
-  --net bridge \
-  --name sim sim
diff --git a/startup.sh b/startup.sh
new file mode 100755
index 0000000..1d22c35
--- /dev/null
+++ b/startup.sh
@@ -0,0 +1,30 @@
+# inside docker script
+trap 'kill $(jobs -p)' EXIT
+
+# 0. generate xorg.conf
+BUS_ID=$(nvidia-xconfig --query-gpu-info | grep 'PCI BusID' | sed -r 's/\s*PCI BusID : PCI:(.*)/\1/')
+nvidia-xconfig -a --virtual=$RESOLUTION --allow-empty-initial-configuration --enable-all-gpus --busid $BUS_ID --use-display-device="DFP-0" --connected-monitor="DFP-0"
+
+# 1. launch X server
+Xorg :0 &
+sleep 1  # wait for the server gets ready
+
+# 2. start x11 and vnc connection
+# to inspect logs in detail, use --verbose
+x11vnc -display :0 -passwd $VNCPASS -forever -rfbport 5900 -ncache 10 &
+sleep 2  # wait for the server gets ready
+
+# 2.5 start audio
+# this is not required.
+# pulseaudio --start
+# sleep 2
+
+# 3. start noVNC
+/noVNC-1.2.0/utils/launch.sh --vnc localhost:5900 --listen 8081 &
+sleep 2
+
+echo 'running noVNC at http://docker_ip:6080/vnc_lite.html'
+
+# 3. start simulator
+export DISPLAY=:0
+openbox