diff --git a/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py b/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
index 779af41..44dc755 100644
--- a/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
+++ b/srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
@@ -1,3 +1,6 @@
+import carla
+from math import atan2
+from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 from tf_transformations import quaternion_from_euler
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import Point
@@ -5,14 +8,12 @@
 
 
 class Waypoint(object):
-    def __init__(self, x, y, z, yaw):
+    def __init__(self, x, y, z):
         self.x = x
         self.y = y
         self.z = z
-        self.yaw = yaw
-
-        # rounding is need by autoware to function properly
-        self.quaternion = quaternion_from_euler(0, 0, round(self.yaw, 1))
+        
+        self.client = CarlaDataProvider.get_client()
 
     def autoware_from_world_coords(self) -> Pose:
         """convert from carla world coordinates to autoware waypoints
@@ -27,12 +28,38 @@ def autoware_from_world_coords(self) -> Pose:
         ros_point.y = -self.y
         ros_point.z = self.z
 
+        orientation = self._get_orientation()
+
         pose.position = ros_point
         pose.orientation = Quaternion(
-            w=self.quaternion[3],
-            x=self.quaternion[0],
-            y=self.quaternion[1],
-            z=self.quaternion[2],
+            x=orientation["x"],
+            y=orientation["y"],
+            z=orientation["z"],
+            w=orientation["w"],
         )
 
         return pose
+
+    def _get_orientation(self) -> dict:
+        curr_location = carla.Location(self.x, self.y, self.z)
+        point1 = self.client.get_waypoint(
+            curr_location, project_to_road=True, lane_type=carla.LaneType.Driving
+        )
+        
+        # get next waypoint that is 0.5 meters away
+        point2 = point1.next(0.5)
+        
+        dx = point2.transform.location.x - point1.transform.location.x
+        dy = point2.transform.location.y - point1.transform.location.y
+        yaw = atan2(dy, dx)
+        
+        # rounding is need by autoware to function properly
+        qx, qy, qz, qw = quaternion_from_euler(0, 0, round(yaw, 1))
+        
+        return {
+            "x": qx,
+            "y": qy,
+            "z": qz,
+            "w": qw,
+        }
+