Home

This is the documentation website for the LGSVL Simulator.

You can subscribe to our email newsletter here.

Visit our website here: https://www.lgsvlsimulator.com

Visit our Github here: https://github.com/lgsvl/simulator

Quick Start#

• Getting Started
• Keyboard Shortcuts
• Release notes
• Web User Interface
  • Maps
  • Vehicles
  • Sensor Parameters
  • Clusters
  • Simulations
• Simulation User Interface
  • Menu items
  • Sensor visualization
  • Bridge topics
• Configuration file and command line parameters

Integration with AD#

• Running with Autoware.AI
  • Instructions
  • Sample sensor configuration
• Running with Autoware.Auto
  • Instructions
  • Sample sensor configuration
• Running with latest Apollo
  • Instructions
  • Modular testing
• Running with Apollo 5.0
  • Instructions
  • Sample sensor configuration
• Running with Apollo 3.0
  • Instructions
  • Sample sensor configuration
• LGSVL ROS/ROS2 Message Definitions
  • The lgsvl_msgs package
  • Ground truth obstacles
    • Viewing and subscribing to ground truth data
    • Sample sensor configuration for data collection

Python API#

• Python API guide
• Python API quickstart examples
• Python API use case examples
• How to run a scenario

Tutorials#

• Reinforcement learning with OpenAI Gym
• Deep learning lane following model
• How to create a simple ROS2-based AD stack with LGSVL Simulator

Advanced#

• Supported message types
• Understanding LGSVL Simulator coordinate systems
• Map annotation
• Build instructions
• Adding assets
• Adding a new map
• Adding a new ego vehicle
• NPC map navigation
• Setting up ROS 2 bridge
• Plugins
  • Sensor plugins
  • LiDAR plugin
  • Bridge plugins
  • Controllable plugins
  • Traffic behavior plugins
  • Vehicle dynamics
• Point cloud
  • Point cloud import
  • Point cloud rendering
• Unity help

Support#

• Troubleshooting
• Frequently Asked Questions
• Contributing