AWSIM

[!NOTE]
v2.0.0 has been released!
Please check v2.0.0 release note

AWSIM is the best digital twin simulator for Autoware.

Features

• Optimally integrated simulation with Autoware
• Distribution of demo simulations highly optimized for Autoware
• ROS2 native communications and environments
• Use the same ROS2 topics and messages as the actual vehicle
• Vehicle dynamics optimized for Autoware
• Support for Autoware’s vehicle control mode
• Support Logitech G29 steering wheels
• Ray tracing lidar sensor simulation
• Open CV camera sensor simulation
• IMU, GNSS sensor simulation
• Controllable time scale
• Support V2I development
• Random traffic simulation. Seed values can also be fixed
• point cloud generation
• Switchable between HDRP and URP
• Focus on customizability through coding
• Support ASAM OpenSCENARIO (connecting scenario simulator v2)
• Simple and highly expandable layered architecture
• Controlling the execution order of C# code independent of Unity’s script execution order

Tutorial

First, try the tutorial !
AWSIM Document - Quick Start Demo

Documentation

https://tier4.github.io/AWSIM/

License

AWSIM License Applies to tier4/AWSIM repositories and all content contained in the Releases.

• code : Apache 2.0
• assets : CC BY-NC
• docs : Prohibit public hosting of documents under /docs

See also LICENSE

Contact

日本語/English OK

GitHub issue : https://github.com/tier4/AWSIM/issues
e-mail : takatoki.makino@tier4.jp
discord : mackierx111
twitter : @mackierx111

(c) 2025 TIER IV, inc