Autoware CARLA Scenario

Welcome to the documentation for autoware-carla-scenario, a CARLA scenario testing framework for Autoware autonomous driving software.

Overview

This package provides a framework for creating and running automated scenario tests in the CARLA simulator, designed for validating Autoware's autonomous driving capabilities.

Features

• Automated scenario execution in CARLA simulator (UE5: 0.10.0 and ue5-dev), through the statically typed typesafe_carla client
• Configurable scenarios using Hydra compose + structured configs
• Glob-pattern batch execution of multiple scenarios in a single CARLA session
• Condition-based scenario evaluation: timing, collisions, traffic signals, speed / standstill, lane / area position, waypoint crossing, plus logical (And / Or / Not), latching (Sticky), and persistent combinators
• Action system for side effects: turns, lane changes, traffic-light state, on-demand camera attachment
• Entity management for ego (EgoVehicle) and NPC vehicles with spawn retry and ground projection
• Coordinate transforms between Lanelet2, OpenDRIVE, and CARLA world
• Lanelet-based constraint sweeping via a Hydra lanelet_constraint sweeper plugin (also resolvable without CARLA from the viewer)
• Web UI (FastAPI + Uvicorn) for browsing results, replaying videos, and triggering runs
• Two-pass video recording (CARLA native log + replayed RGB camera + ffmpeg H.264)
• scenario-setup downloads CARLA's nightly build, which the runner then launches by itself
• pytest integration via CarlaScenarioFixture (auto-skip when there is no CARLA to launch)

Quick Links

• Quick Start - Download CARLA and test a driving policy, in three commands
• Installation Guide - Get started with installing the package
• Usage Guide - Learn how to run scenarios
• Architecture - Software architecture and design decisions
• API Reference - Detailed API documentation
• Development Guide - Contributing and development setup

Project Information

• Repository: hakuturu583/autoware_carla_scenario
• Release Notes: View all releases on GitHub
• License: Check the repository for license information
• Python Version: 3.10 - 3.14 (>=3.10,<3.15, the interpreters CI tests)

Getting Help

If you encounter any issues or have questions:

1. Check the documentation sections above
2. Search existing GitHub Issues
3. Create a new issue if your problem hasn't been reported