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AWSIM simulator#

AWSIM is a simulator for Autoware development and testing. TIER IV developed it first. It is now maintained in the Autoware Foundation GitHub organization.

To get started with AWSIM, follow the Quick start demo in the AWSIM documentation. It lists the PC requirements, the network settings, and the steps to run the demo.

Tip

There are 2 versions of the AWSIM demo:

  • 🐇 URP (Universal Render Pipeline) version: ⭐ AWSIM-Demo-Lightweight.zip
    • This is the recommended version.
  • 🐢 HDRP (High Definition Render Pipeline) version: AWSIM-Demo.zip
    • This version has higher graphical fidelity but it is very heavy.

Find more details in AWSIM/Downloads.

Launch Autoware for the AWSIM demo#

The demo drives in Shinjuku, Tokyo. Download Shinjuku-Map.zip from AWSIM/Downloads and extract it. It holds the Lanelet2 map and the point cloud map that Autoware uses.

Start AWSIM first. Then launch Autoware with the e2e_simulator.launch.xml launch file and the AWSIM sensor kit:

source ~/autoware/install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=<path-to-Shinjuku-Map>/map

AWSIM publishes Autoware messages directly, so the launch file starts no simulator interface for it (simulator_type is awsim by default).

Run Autoware in Docker

The Autoware repository has a Docker Compose example for AWSIM in docker/examples/demos/awsim. It runs the same launch command in a container. AWSIM runs on the host.

Warning

If you are looking for AWSIM Labs, it is archived, see the announcement post.