Note
v2.0.0 has been released!
Please check v2.0.0 release note
AWSIM is the best digital twin simulator for Autoware.
- 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
First, try the tutorial !
AWSIM Document - Quick Start Demo
https://tier4.github.io/AWSIM/
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
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