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CARLA-Autoware-Bridge: Facilitating Autonomous Driving Research with a Unified Framework for Simulation and Module Development

Gemb Kaljavesi, Tobias Kerbl, Tobias Betz, Kirill Mitkovskii, Frank Diermeyer

TL;DR

This paper presents the CARLA-Autoware-Bridge, a bidirectional bridge that enables system-level, high-fidelity testing of Autoware Core/Universe within the CARLA simulator. By extending a ros-Bridge and implementing control-command translation via a PID-based mapper, the framework achieves real-time data exchange between CARLA and Autoware, along with accompanying sensor kit, vehicle model, and Lanelet2 map developments. Experimental results demonstrate feasible closed-loop testing and scalability of the bridge across sensor configurations, while identifying latency challenges with high-density LiDAR data. The work enables more realistic, end-to-end testing of modular autonomous driving software and offers an open-source foundation for future extensions, including automated OpenDrive-to-Lanelet2 conversion and a richer scenario database.

Abstract

Extensive testing is necessary to ensure the safety of autonomous driving modules. In addition to component tests, the safety assessment of individual modules also requires a holistic view at system level, which can be carried out efficiently with the help of simulation. Achieving seamless compatibility between a modular software stack and simulation is complex and poses a significant challenge for many researchers. To ensure testing at the system level with state-of-the-art AV software and simulation software, we have developed and analyzed a bridge connecting the CARLA simulator with the AV software Autoware Core/Universe. This publicly available bridge enables researchers to easily test their modules within the overall software. Our investigations show that an efficient and reliable communication system has been established. We provide the simulation bridge as open-source software at https://github.com/TUMFTM/Carla-Autoware-Bridge

CARLA-Autoware-Bridge: Facilitating Autonomous Driving Research with a Unified Framework for Simulation and Module Development

TL;DR

This paper presents the CARLA-Autoware-Bridge, a bidirectional bridge that enables system-level, high-fidelity testing of Autoware Core/Universe within the CARLA simulator. By extending a ros-Bridge and implementing control-command translation via a PID-based mapper, the framework achieves real-time data exchange between CARLA and Autoware, along with accompanying sensor kit, vehicle model, and Lanelet2 map developments. Experimental results demonstrate feasible closed-loop testing and scalability of the bridge across sensor configurations, while identifying latency challenges with high-density LiDAR data. The work enables more realistic, end-to-end testing of modular autonomous driving software and offers an open-source foundation for future extensions, including automated OpenDrive-to-Lanelet2 conversion and a richer scenario database.

Abstract

Extensive testing is necessary to ensure the safety of autonomous driving modules. In addition to component tests, the safety assessment of individual modules also requires a holistic view at system level, which can be carried out efficiently with the help of simulation. Achieving seamless compatibility between a modular software stack and simulation is complex and poses a significant challenge for many researchers. To ensure testing at the system level with state-of-the-art AV software and simulation software, we have developed and analyzed a bridge connecting the CARLA simulator with the AV software Autoware Core/Universe. This publicly available bridge enables researchers to easily test their modules within the overall software. Our investigations show that an efficient and reliable communication system has been established. We provide the simulation bridge as open-source software at https://github.com/TUMFTM/Carla-Autoware-Bridge
Paper Structure (18 sections, 4 figures, 1 table)

This paper contains 18 sections, 4 figures, 1 table.

Table of Contents

  1. Introduction
  2. Related Work
  3. Open-Source Software for Autonomous Vehicles
  4. High-Fidelity Simulators for Autonomous Vehicles
  5. Contribution
  6. Unified Simulation Framework
  7. Requirements
  8. Overview
  9. CARLA to Autoware: Sensor Data
  10. Autoware to CARLA: Control Commands
  11. Autoware Dependencies
  12. Experiment Design
  13. Transmission of Control Commands
  14. Performance Benchmark
  15. Results
  16. ...and 3 more sections

Figures (4)

  • Figure 1: CARLA on the left and Autoware Core/Universe on the right during a simulation.
  • Figure 2: Overview of the framework for system-level testing with the components developed or customized as part of in this work highlighted in blue.
  • Figure 3: Comparison of velocity and lateral deviation curves obtained from test runs with and without the introduced pid controller and steering angle conversion for control command transmission.
  • Figure 4: Histograms displaying the latency of the developed framework, measuring the time between receiving messages from the simulation and outputting messages to the av software for various sensors and sensor configurations.