diff --git a/src/__main__.py b/src/__main__.py
index 9498181..01695a4 100644
--- a/src/__main__.py
+++ b/src/__main__.py
@@ -1,10 +1,16 @@
 import time
 
 import carla
+import glob
+import os
+import sys
 
 from src.simulator_handler import SimulatorHandler
 from utils.vehicle_command import VehicleCommand
+from utils.carla_utils import draw_waypoints, filter_waypoints, TrajectoryToFollow, InfiniteLoopThread
+import warnings
 
+warnings.filterwarnings("ignore")
 if __name__ == "__main__":
     simulator_handler = SimulatorHandler(town_name="Town03")
     simulator_handler.spawn_vehicle(spawn_index=30)
@@ -13,17 +19,35 @@
     # potential weather choices are [ClearNoon, ClearSunset, CloudyNoon, CloudySunset,
     # WetNoon, WetSunset, MidRainyNoon, MidRainSunset, HardRainNoon, HardRainSunset,
     # SoftRainNoon, SoftRainSunset]
+    
+    ego_spawn_point = path_following_handler.ego_spawn_point
+    filtered_waypoints = filter_waypoints(path_following_handler.waypoints, road_id=ego_spawn_point["road_id"])
+    spawn_point = filtered_waypoints[ego_spawn_point["filtered_points_index"]].transform
+    spawn_point.location.z += 2
+    vehicle = client.get_world().spawn_actor(vehicle_blueprint, spawn_point)
+    actor_list.append(vehicle)
 
     # add sensors
+    
     LIDAR_sensor = simulator_handler.LIDAR()
     radar_sensor = simulator_handler.radar()
     collision_sensor = simulator_handler.collision()
     rgb_cam = simulator_handler.rgb_cam()
     gnss_sensor = simulator_handler.gnss()
     imu_sensor = simulator_handler.imu()
+    rgb_cam = simulator_handler.rgb_cam(vehicle)
+    gnss_sensor = simulator_handler.gnss(vehicle)
+    imu_sensor = simulator_handler.imu(vehicle)
+    lidar = simulator_handler.lidar(vehicle)
+    radar = simulator_handler.radar(vehicle)
+    collision = simulator_handler.collision(vehicle)
 
     # listen to sensor data
+    
     LIDAR_sensor.listen(lambda LIDAR: simulator_handler.LIDAR_callback(LIDAR))
+    lidar.listen(lambda data: simulator_handler.lidar_callback(data))
+    radar.listen(lambda data: simulator_handler.radar_callback(data))
+    collision.listen(lambda event: simulator_handler.collision_callback(event))
     radar_sensor.listen(lambda radar: simulator_handler.radar_callback(radar))
     collision_sensor.listen(lambda collision: simulator_handler.collision_callback(collision))
     rgb_cam.listen(lambda image: simulator_handler.rgb_cam_callback(image))
@@ -31,6 +55,16 @@
     gnss_sensor.listen(lambda gnss: simulator_handler.gnss_callback(gnss))
     VehicleCommand(throttle=1.0).send_control(simulator_handler.vehicle)
     
+     if path_following_handler.debug_mode:
+        path_following_handler.start()
+    else:        
+        ego_pid_controller = path_following_handler.pid_controller(vehicle,
+                                                                   path_following_handler.pid_values_lateral,
+                                                                   path_following_handler.pid_values_longitudinal)
+
+        path_following_handler.vehicle_and_controller_inputs(vehicle, ego_pid_controller)
+        path_following_handler.start()
+    
    time.sleep(1000.0)