# How to integrate your vehicle in AWSIM environment

## Overview

[AWSIM](<https://github.com/autowarefoundation/AWSIM>) is an open-source simulator designed by TIER IV for training and evaluating autonomous driving systems. It provides a realistic virtual environment for simulating various real-world scenarios, enabling users to test and refine their autonomous systems before deployment on actual vehicles.

## Set up the Unity project

To add your environment and vehicle to the AWSIM simulation, you need to set up the [Unity](<https://unity.com/>) environment on your computer. Please follow the steps on the [`Setup Unity Project`](<https://autowarefoundation.github.io/AWSIM/DeveloperGuide/SetupUnityProject/>) documentation page to set up the Unity environment on your computer.

AWSIM Unity Setup

## New vehicle integration

To incorporate your vehicle into the AWSIM environment, you'll need a 3D model file (.dae, .fbx) of your vehicle. Please refer to the steps on the [`Accel Vehicle documentation page`](<https://autowarefoundation.github.io/AWSIM/DeveloperGuide/Layer/Entity/Vehicle/AccelVehicle/>) to add your own vehicle to the AWSIM project environment. During these steps, you'll configure your sensor URDF design on your vehicle. Our tutorial vehicle is shown in the AWSIM environment in the following image.

Tutorial vehicle in AWSIM Unity Environment

## Environment integration

Creating custom 3D environments for AWSIM is feasible, but it's recommended to adhere to the .fbx file format. Materials and textures should be stored in separate directories for seamless integration with Unity. This format facilitates material importation and replacement during import. Please refer to the [`Scene Class documentation`](<https://autowarefoundation.github.io/AWSIM/DeveloperGuide/Architecture/#scene-class>) to add your custom environment to the AWSIM project environment.

Tutorial vehicle AWSIM Unity Environment

## Launch Autoware with AWSIM

When your vehicle and your environment run in AWSIM, launch Autoware with `e2e_simulator.launch.xml` of the `autoware_launch` package. Use the vehicle model, the sensor model, and the map of your vehicle:

```bash
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=<YOUR-MAP-PATH> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-MODEL>
```

The default value of `simulator_type` is `awsim`, and `use_sim_time` is `true` by default. With `simulator_type:=awsim`, the diagnostic graph is `config/system/diagnostics/autoware-awsim.yaml` of `autoware_launch`. The `vehicle/awsim_labs_vehicle_launch` and `sensor_kit/awsim_labs_sensor_kit_launch` directories of [`autoware_launch`](<https://github.com/autowarefoundation/autoware_launch/tree/0.53.0>) are examples of the vehicle and sensor kit packages for AWSIM. For the AWSIM demo of Autoware, see the [AWSIM tutorial](<../../../simulation/digital-twin-simulation/awsim-tutorial/index.md>).

## Others

Additionally, you can incorporate traffic and NPCs, generate point cloud maps using lanelet2 maps, and perform other tasks by following the relevant documentation steps provided in the [`AWSIM documentation`](<https://autowarefoundation.github.io/AWSIM/>).