# Simulation

You can run Autoware without a vehicle in four kinds of simulation. Each kind simulates different parts of the vehicle and its world, so it tests different components of Autoware. Choose a simulation by the components that you want to test.

Each page shows how to set up the simulation and how to run Autoware in it. Before you start, [install Autoware](<../installation/index.md>).

| Simulation | Sensing | Perception | Localization | Planning | Control |
| :--- | :---: | :---: | :---: | :---: | :---: |
| [Digital twin simulation](<#digital-twin-simulation>) |  |  |  |  |  |
| [Planning simulation](<#planning-simulation>) |  |  |  |  |  |
| [Rosbag replay simulation](<#rosbag-replay-simulation>) |  |  |  |  |  |
| [Scenario simulation](<#scenario-simulation>) |  |  |  |  |  |

End-to-end

## Digital twin simulation

Tests

All components

All components of Autoware. With another configuration, you can test specific components.

Simulates

- Sensors (Lidar, camera, GNSS/INS, etc.)
- Vehicle dynamics
- NPCs (Non playable characters / other road users &amp; obstacles)

[AWSIM](<digital-twin-simulation/awsim-tutorial/index.md>) [AWSIM with Autoware Core](<digital-twin-simulation/autoware-core-awsim/index.md>)

Other simulators: [MORAI Sim: Drive](<digital-twin-simulation/MORAI_Sim-tutorial/index.md>), [CARLA](<digital-twin-simulation/carla-tutorial/index.md>), and [PanoSim](<digital-twin-simulation/panosim-demo/index.md>). To check that a simulator works with Autoware, run the [compatibility test](<digital-twin-simulation/compatibility-test/index.md>).

Planning and control

## Planning simulation

Tests

Planning Control

Simulates

- Perception output (bounding boxes)

  - Allows you to place dummy objects and simulate their simple movement
  - Traffic light output
- Localization output

  - Allows you to place the ego vehicle anywhere on the map
- Map output

  - Lets you test the validity of Lanelet2 maps

[Planning simulation](<planning-simulation/index.md>)

Recorded data

## Rosbag replay simulation

Tests

Sensing Perception Localization

These components with the sample rosbag. With your own recorded data, you can test any other component.

Plays back

- Left, right and top lidar output *(in the sample rosbag)*
- GNSS/INS data *(in the sample rosbag)*
- Vehicle status *(in the sample rosbag)*
- Anything else *(based on recorded data)*

[Rosbag replay simulation](<rosbag-replay-simulation/index.md>)

Scenarios

## Scenario simulation

Tests

Planning Control

Simulates

- Other road users and traffic lights, as an OpenSCENARIO scenario describes them
- Perception output (bounding boxes) and the localization output
- The success and failure conditions of the scenario

[Scenario simulation](<scenario-simulation/scenario-simulator/installation/index.md>)

To evaluate Autoware with recorded data and pass or fail criteria, use the [Driving Log Replayer](<scenario-simulation/driving-log-replayer/index.md>).

## Evaluation

The [evaluation pages](<evaluation/index.md>) describe how to measure the quality of Autoware in these simulations: the evaluator packages that calculate metrics while Autoware runs, and an evaluation of the localization in an urban environment.