simulation_adapter

Adapts OpenADSim data to vehicle-specific OpenADStack interfaces

The simulation_adapter connects OpenADSim-provided data to the OpenADStack. Simulator-specific converters, such as carla_converter or sumo_converter, only translate simulator output into the OpenADSim message format. The simulation adapter adapts those interfaces for the configured OpenADStack and into vehicle-specific coordinate sytem. Key features:

• Frame adaptation: transforms ego data, object lists, and trajectories between simulation and automated-driving frame conventions.
• Map handover: forwards the active simulation map to the lanelet2 map server.
• Optional ego outputs: publishes ego IMU, odometry, and vehicle state topics when enabled.
• Configurable integration: exposes launch arguments for topic remapping, parameters, namespace, node name, and log level.

🚀 Quick Start • 💻 Development • 📝 Documentation

Important

This repository is part of OpenADS, the Open Automated Driving Systems project. OpenADS and its modules have been initiated and are currently being maintained by the Institute for Automotive Engineering (ika) at RWTH Aachen University.

🚀 Quick Start

1. Start a container of the pre-built runtime image.

   docker run --rm -it ghcr.io/openads-project/simulation_adapter:latest bash

2. Inside the container, launch the pre-built nodes.

   ros2 launch simulation_adapter simulation_adapter.launch.py

💻 Development

Set up Development Environment

1. Clone the repository.

   git clone https://github.com/openads-project/simulation_adapter.git

2. Initialize the .openads-dev-environment submodule containing development environment configuration.

   cd simulation_adapter
   git submodule update --init --recursive

3. Open the repository in Visual Studio Code.

   code .

4. Install the recommended VS Code extensions.

   Ctrl+Shift+P / Extensions: Show Recommended Extensions / Install Workspace Recommended Extensions (Cloud Download Icon)

5. Reopen the repository in a Dev Container.

   Ctrl+Shift+P / Dev Containers: Rebuild and Reopen in Container

Build

Ctrl+Shift+B

colcon build

Run Tests

Ctrl+Shift+P / Tasks: Run Test Task

colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
colcon test
colcon test-result --verbose

📝 Documentation

Package and node interfaces are documented in the respective package READMEs listed below. Implementation details are found in the Source Code Documentation.

Package	Description
simulation_adapter	Adapts OpenADSim data to vehicle-specific OpenADStack interfaces.

⚖️ Licensing

The source code in this repository is licensed under Apache-2.0, see LICENSE. Container images provided by this repository may contain third-party software shipped with their own license terms.

🙏 Acknowledgements

Development and maintenance of this repository are supported by the following projects. We acknowledge the funding of the respective institutions.

Project	Funding Institution	Grant Number
AIGGREGATE	🇪🇺 European Union	101202457
AIthena	🇪🇺 European Union	101076754
autotech.agil	🇩🇪 Federal Ministry for Research, Technology and Space (BMFTR)	01IS22088A

_{^{Funded by the European Union. Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Climate, Infrastructure and Environment Executive Agency (CINEA). Neither the European Union nor CINEA can be held responsible for them.}}