Compatibility test

The compatibility test tool is used to verify whether a digital-twin simulator works correctly with Autoware.

simulator_compatibility_test package

• This tool is built on ROS 2 Humble.
• As of Jan 26th, 2023, it has been tested only with MORAI SIM: Drive Demo.
• For full source code and instructions, see: autoware_tools/simulator/simulator_compatibility_test

Note

The test suite includes a set of manual and automated test cases that check whether a simulator correctly publishes and receives the Autoware-required messages (e.g., control mode, gear, velocity, steering, turn indicators, hazard lights). These tests verify bidirectional communication by sending control commands and checking the simulator’s reported status.

Info

Simulators other than MORAI SIM can also use the common manual tests (test_sim_common_manual_testing).

Tip

Developers may extend these by creating simulator-specific automated versions similar to the MORAI SIM test set.