diff --git a/docker_run.sh b/docker_run.sh
index 85db1c3d..8e39b81e 100755
--- a/docker_run.sh
+++ b/docker_run.sh
@@ -32,4 +32,4 @@ esac
 mkdir -p output
 
 # shellcheck disable=SC2086
-rocker ${opts} --x11 --devices /dev/dri --user --net host --privileged --name aichallenge-2024 --volume ${volume} -- "aichallenge-2024-${target}"
+rocker ${opts} --x11 --devices /dev/dri --user --net host --privileged --name aichallenge-2024-$(date "+%Y-%m-%d-%H-%M-%S") --volume ${volume} -- "aichallenge-2024-${target}"
diff --git a/run_script.tmux b/run_script.tmux
new file mode 100644
index 00000000..907043f3
--- /dev/null
+++ b/run_script.tmux
@@ -0,0 +1,70 @@
+#!/bin/bash
+
+# docker setup
+AIC_DIR="/home/$USER/aichallenge-2024"
+VEHICLE_DIR="/home/$USER/aichallenge-2024/vehicle"
+
+AIC_CD="cd $AIC_DIR"
+VEHICLE_CD="cd $VEHICLE_DIR"
+
+AIC_DOCKER_RUN_CMD="bash docker_run.sh dev cpu"
+KART_DOCKER_RUN_CMD="bash run_driver.bash"
+ZENOH_DOCKER_RUN_CMD="bash run_zenoh.bash"
+
+AIC_WORKSPACE_CD_CMD="cd /aichallenge"
+SOURCE_CMD="source install/setup.bash"
+
+# mouse setup
+set-option -g mouse on
+bind-key -n WheelUpPane if-shell -F -t = "#{mouse_any_flag}" "send-keys -M" "if -Ft= '#{pane_in_mode}' 'send-keys -M' 'select-pane -t=; copy-mode -e; send-keys -M'"
+bind-key -n WheelDownPane select-pane -t= \; send-keys -M
+
+set-window-option -g mode-keys vi
+bind-key -T copy-mode-vi v send -X begin-selection
+bind-key -T copy-mode-vi y send -X copy-pipe-and-cancel "xclip -sel clip -i"
+
+
+# split-vertical
+# 1. 初期のペインで左右に分割
+select-pane -t 0          # 最初のペイン (0) を選択
+split-window -h -p 50     # 左右に 50% 分割して、右にペイン 1 を作成
+
+# 2. 右側のペインを選択して上下に 3 回分割
+select-pane -t 1          # 右側のペイン (1) を選択
+split-window -v -p 67     # ペイン 1 を 67% 下で分割し、ペイン 2 を作成
+split-window -v -p 50     # ペイン 2 を 50% 下で分割し、ペイン 3 を作成
+split-window -v -p 50     # ペイン 3 を 50% 下で分割し、ペイン 4 を作成
+# pane 0 is used for aic
+select-pane -t 0
+send-keys "set -x" C-m
+send-keys "$AIC_CD" C-m
+send-keys "echo $AIC_WORKSPACE_CD_CMD" C-m
+send-keys "echo $SOURCE_CMD" C-m
+send-keys "echo run_autoware.bash vehicle" C-m
+send-keys "$AIC_DOCKER_RUN_CMD" C-m
+
+# pane 1 is used for aic rosbag record
+select-pane -t 1
+send-keys "set -x" C-m
+send-keys "$AIC_CD" C-m
+send-keys "sleep 2" C-m
+send-keys "echo $AIC_WORKSPACE_CD_CMD" C-m
+send-keys "echo $SOURCE_CMD" C-m
+send-keys "$AIC_DOCKER_RUN_CMD" C-m
+
+# pane 2 is used for racing kart docker
+select-pane -t 2
+send-keys "set -x" C-m
+send-keys "$VEHICLE_CD" C-m
+send-keys "$KART_DOCKER_RUN_CMD" C-m
+
+# pane 3 is used for zenoh docker
+select-pane -t 3
+send-keys "set -x" C-m
+send-keys "$VEHICLE_CD" C-m
+send-keys "sleep 10" C-m
+send-keys "$ZENOH_DOCKER_RUN_CMD " C-m
+
+# pane 4 is used for anything
+select-pane -t 4
+send-keys "set -x" C-m
diff --git a/run_veihcle_tmux.sh b/run_veihcle_tmux.sh
new file mode 100644
index 00000000..ee5d98d3
--- /dev/null
+++ b/run_veihcle_tmux.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+bash stop_vehicle_tmux.sh
+gnome-terminal --maximize --zoom 0.7 -- tmux new-session \; source-file run_script.tmux
diff --git a/stop_vehicle_tmux.sh b/stop_vehicle_tmux.sh
new file mode 100644
index 00000000..9066df0d
--- /dev/null
+++ b/stop_vehicle_tmux.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# kill tmux server
+tmux kill-server
+# kill all docker
+docker rm -f "$(docker ps -a -q)"
diff --git a/vehicle/run_zenoh.bash b/vehicle/run_zenoh.bash
index 97e61944..a3eeb804 100755
--- a/vehicle/run_zenoh.bash
+++ b/vehicle/run_zenoh.bash
@@ -1,11 +1,11 @@
 #!/bin/bash
 docker run --rm \
-  --net=host \
-  -e ROS_DISTRO=humble \
-  -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-  -e CYCLONEDDS_URI=file:///cyclonedds.xml \
-  --name zenoh \
-  -v ~/aichallenge-2024/vehicle/zenoh.json5:/zenoh.json5 \
-  -v ~/aichallenge-2024/cyclonedds.xml:/cyclonedds.xml \
-  eclipse/zenoh-bridge-ros2dds:latest \
-  -c /zenoh.json5
\ No newline at end of file
+    --net=host \
+    -e ROS_DISTRO=humble \
+    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+    -e CYCLONEDDS_URI=file:///cyclonedds.xml \
+    --name zenoh \
+    -v ~/aichallenge-2024/vehicle/zenoh.json5:/zenoh.json5 \
+    -v ~/aichallenge-2024/cyclonedds.xml:/cyclonedds.xml \
+    eclipse/zenoh-bridge-ros2dds:latest \
+    -c /zenoh.json5
diff --git a/vehicle/zenoh.json5 b/vehicle/zenoh.json5
index 4f16f4d8..65a5bb88 100644
--- a/vehicle/zenoh.json5
+++ b/vehicle/zenoh.json5
@@ -65,6 +65,7 @@
           "/map/vector_map_marker",
           "/planning/scenario_planning/lane_driving/behavior_planning/path",
           "/localization/kinematic_state",
+          "/initialpose",
         ],
         subscribers: [
           "/vehicle/status/control_mode",
@@ -78,6 +79,7 @@
           "/map/vector_map_marker",
           "/planning/scenario_planning/lane_driving/behavior_planning/path",
           "/localization/kinematic_state",
+          "/initialpose",
         ],
         service_servers: [],
         service_clients: [],