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AWSIM

  • Software
  • Cars
  • Simulator

AWSIM is a digital twin simulator built for Autoware, the open-source autonomous driving software. It lets Autoware run against a simulated vehicle and environment.

  • Non-commercial
  • Closed core

Made by TIER IV.

Source on GitHub: github.com/autowarefoundation/AWSIM (opens in a new tab). Facts read at commit 7b803d8 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (CC-BY-NC-4.0) at commit 7b803d8 (opens in a new tab), on 23 Oct 2026. A person at Robotheca set it on 5 Nov 2026.

Commercial use
No

The assets license does not allow commercial use.

One part it needs is closed

  • Needs Unity: AWSIM is a Unity project (Unity 6000.0.61f1): editing or building it needs the Unity Editor, and the ready-built binaries include Unity's runtime, under Unity's own terms.

Labels

  • Non-commercialThe assets license (CC-BY-NC-4.0) does not allow commercial use.
  • Closed coreIt needs closed parts: Unity.

What it does: Robotheca's summary

  • Integrates with Autoware and uses the same ROS2 topics and messages as an actual vehicle.
  • Provides demo simulations tuned for Autoware, with vehicle dynamics and vehicle control mode support.
  • Simulates ray tracing lidar, camera, IMU and GNSS sensors, and can generate point clouds.
  • Includes random traffic simulation with optional fixed seeds, plus V2I development support.
  • Supports ASAM OpenSCENARIO by connecting to scenario simulator v2 and Logitech G29 steering wheels.
  • Built on Unity, switchable between HDRP and URP, with a controllable time scale and layered C# architecture.

Written by Robotheca from the project's README (opens in a new tab) at commit 46a6852.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
20 Oct 2026 on main
Latest release
v2.0.1 (31 Oct 2025)

Checked on GitHub on 30 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.