SUMOWARE | SUMO - Autoware Bridge

Project Structure

The repository is organized as follows:

sumoware_bridge/
├── src/                        # Source code directory
│   ├── sumoware/               # Main package containing the bridge implementation
│   └── tier4_autoware_msgs/    # Autoware message definitions
├── sumo_docker/                # Docker configuration for SUMO
├── launcher_autoware/          # Modified Autoware launch configurations
├── map/                        # Map-related files and utilities
├── example_inputs/             # Example input files
│   ├── map.xodr                # Example OpenDRIVE map file
│   └── scenario_params.json    # Example scenario parameters

Running the simulation

Tested with WSL (Ubuntu 22.04) on Windows 11 with ROS2 Humble

Clone this repository, recursively

git clone [email protected]:TUM-VT/SumoWare.git --recurse-submodules
cd sumoware

Make sure ROS2 Humble is installed ROS2 Humble

SUMO needs to be installed for map conversion: SUMO Installation

Make sure SUMO_HOME environment variable is set

sudo apt-get install sumo sumo-tools sumo-doc
export SUMO_HOME=/usr/share/sumo

Make sure docker is installed

Add docker user group

Make sure rocker is installed

sudo apt-get install python3-rocker

Build sumo docker image with the name "sumo_docker"

docker build ./sumo_docker -t sumo_docker

Source the ROS2 installation

source /opt/ros/humble/setup.bash

Install dependencies

sudo apt install python3-rosdep2
sudo apt install python3-pip
sudo apt-get install ros-humble-tf-transformations
# pip install empy==3.3.4 # uncomment if colcon build fails
pip install requests==2.31.0 # for rocker compatibility
pip install --upgrade transforms3d
pip install commonroad-scenario-designer
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Build the project

sudo apt install python3-colcon-common-extensions
colcon build --symlink-install

Source the project workspace

source install/local_setup.bash

Pull autoware image

docker pull ghcr.io/autowarefoundation/autoware:universe-cuda-20241010-amd64

Run the simulation with example data

ros2 run sumoware scenario_controller --ros-args -p use_sim_time:=true -p scenario_file:="./example_inputs/scenario_params.json" -p map_file:="./example_inputs/map.xodr" -p project_absolute_path:="$PWD" -p gpu_support:=true

To run without GPU support, disable the gpu_support toggle

ros2 run sumoware scenario_controller --ros-args -p use_sim_time:=true -p scenario_file:="./example_inputs/scenario_params.json" -p map_file:="./example_inputs/map.xodr" -p project_absolute_path:="$PWD" -p gpu_support:=false

For a step-by-step installation guide please click here

Simulation Videos

Videos of simulations running SumoWare can be found here.

Contributors

Faruk Öztürk
Evald Nexhipi
Mathias Pechinger

Paper

If you use this repository, please cite our paper:

Öztürkle, F., Nexhipi, E., Pechinger, M., & Bogenberger, K. (2025). SumoWare: Bridging SUMO and Autoware to Assess AV-Induced Traffic Impact. IEEE IV 2025, 2415–2421. DOI.

BibTeX:

@inproceedings{sumoware2025,
  title={SumoWare: Bridging SUMO and Autoware to Assess AV-Induced Traffic Impact},
  author={{\"O}zt{\"u}rkle, Faruk and Nexhipi, Evald and Pechinger, Mathias and Bogenberger, Klaus},
  booktitle={2025 IEEE Intelligent Vehicles Symposium (IV)},
  pages={2415--2421},
  year={2025},
  organization={IEEE},
  doi={10.1109/IV64158.2025.11097507}
}

Disclaimer

This project contains code derived from Autoware and tier4_autoware_msgs, licensed under the Apache License 2.0.