diff --git a/docker/autoware_msgs.tar b/docker/autoware_msgs.tar
index 41de37f..cdbe35a 100644
Binary files a/docker/autoware_msgs.tar and b/docker/autoware_msgs.tar differ
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 6182327..7fecbd7 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -60,6 +60,10 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
 
         self.publish_sensor_state()
 
+        self.setup_tick_service()
+
+        self.setup_route()
+
     def publish_sensor_state(self) -> None:
         # publish sensor information to the bridge
         # wait for it to return the correct message
@@ -78,7 +82,7 @@ def publish_sensor_state(self) -> None:
         # big performance diminishment here
         while not self.autoware_state.bridge_ready:
             logger.info("Sending Sensor state to Agent...")
-            time.sleep(5) # DO NOT CHANGE THIS IS A MAGIC NUMBER
+            time.sleep(5)  # DO NOT CHANGE THIS IS A MAGIC NUMBER
             self.state_node.ego_config_publisher.publish(ego_config_msg)
 
     def set_route(self) -> None:
@@ -123,7 +127,7 @@ def run_step(self) -> None:
         self.counter += 1
         if self.counter % 20 == 0:
             logger.info("Ticked 1 second")
-        
+
         if not self.agent_set_route:
             self.set_route()
 
@@ -152,4 +156,4 @@ def run_step(self) -> None:
 
         # check if the current route is set
         if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
-           self.autoware_node.publish_engage(True)
+            self.autoware_node.publish_engage(True)
diff --git a/srunner/autoagents/autoware_nodes/autoware_node.py b/srunner/autoagents/autoware_nodes/autoware_node.py
index e92c3a4..acdc379 100644
--- a/srunner/autoagents/autoware_nodes/autoware_node.py
+++ b/srunner/autoagents/autoware_nodes/autoware_node.py
@@ -15,25 +15,18 @@
 
 
 class AutowareNode(Node):
-    engage_topic = "/autoware/engage"  # Renamed for clarity as it's a topic
-    localize_service = (
-        "/api/localization/initialize"  # Renamed for clarity as it's a service
-    )
+    engage_topic = "/autoware/engage"
+    localize_service = "/api/localization/initialize"
 
-    def __init__(
-        self, autoware_state_instance: autoware_state.AutowareState
-    ):  # Renamed arg for clarity
-        super().__init__("autoware_node")  # Initialize the Node with a unique name
+    def __init__(self, autoware_state_instance: autoware_state.AutowareState):
+        super().__init__("autoware_node")
 
-        # This is correct: Engage is a message type for a topic
         self.engage_publisher = self.create_publisher(Engage, self.engage_topic, 10)
 
-        # FIX: Create a service client, not a publisher, for InitializeLocalization
         self.localize_client = self.create_client(
             InitializeLocalization, self.localize_service
         )
 
-        # marker publisher
         self.marker_publisher = self.create_publisher(
             Marker, "visulaization_marker", 10
         )
@@ -77,24 +70,15 @@ def request_localize(
         """
         self.get_logger().info("Sending localization initialization request...")
 
-        # Create a request object for the InitializeLocalization service
-        request = (
-            InitializeLocalization_Request()
-        )  # InitializeLocalization() would also work
-
+        request = InitializeLocalization_Request()
         if global_pose:
             # Populate the request with the provided pose
             # Assuming the service definition has a field named 'pose' of type PoseWithCovarianceStamped
             request.pose = global_pose
         else:
-            # If no pose is provided, send an empty request (as per Autoware behavior)
-            # The 'pose' field of the request message would default to its empty state.
             self.get_logger().info(
                 "No initial global_pose provided, sending empty localization request."
             )
-            # If the service requires 'pose' to always be set, even to a default,
-            # you'd need to explicitly set a default PoseWithCovarianceStamped here.
-            # Example: request.pose = PoseWithCovarianceStamped() # Creates an empty message
 
         # Call the service asynchronously
         future = self.localize_client.call_async(request)
diff --git a/srunner/autoagents/autoware_nodes/tick_node.py b/srunner/autoagents/autoware_nodes/tick_node.py
new file mode 100644
index 0000000..d7bf438
--- /dev/null
+++ b/srunner/autoagents/autoware_nodes/tick_node.py
@@ -0,0 +1,31 @@
+# import message types
+
+from rclpy.node import Node
+
+
+class TickNode(Node):
+    """ROS2 Client Node solely responsible for ticking the Autoware-Carla-Bridge.
+    The service is called syncronously, blocking execution until Autoware executes the action and replies.
+
+    The node also has an optional boolean to enable tracking execution time.
+    """
+
+    tick_service = "/autoware/tick"
+
+    def __init__(self, exec_time: bool = False, debug: bool = False) -> None:
+        super().__init__("")
+        self._exec_time = exec_time
+        self.debug = debug
+
+        self.tick_client = self.create_client(
+            # message type - implement,
+            self.tick_service
+        )
+
+    def autoware_tick(self) -> None:
+        # get current time
+        # assemble tick message
+        # over client
+        # block until response received
+
+        return