# AWSIM simulator

[AWSIM](<https://github.com/autowarefoundation/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](<https://autowarefoundation.github.io/AWSIM/GettingStarted/QuickStartDemo/>) 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](<https://autowarefoundation.github.io/AWSIM/Downloads/>).

## Launch Autoware for the AWSIM demo

The demo drives in Shinjuku, Tokyo. Download `Shinjuku-Map.zip` from [AWSIM/Downloads](<https://autowarefoundation.github.io/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:

```bash
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).

> [!TIP]
>
> **Run Autoware in Docker**
>
> The Autoware repository has a Docker Compose example for AWSIM in [`docker/examples/demos/awsim`](<https://github.com/autowarefoundation/autoware/tree/2.0.0/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](<https://github.com/autowarefoundation/AWSIM-Labs>), it is archived, see the [announcement post](<https://github.com/orgs/autowarefoundation/discussions/6706>).