System Under Test Introduction#
System Under Test refers to any module or system that you connect to SVL Simulator to test or verify. This can be a specific software module and its algorithms, an end-to-end autonomous system including target computing hardware, or a reference robotics software stack running on a desktop PC.
By connecting the System Under Test to SVL Simulator, you can virtually simulate the real-world conditions and environmental input required by the systems you are developing. This includes the physics state of the virtual 3D environment, including all dynamic actors like traffic, and sensor data that interprets this environment.
Interfacing with SVL Simulator#
The simulator provides several default communication interface mechanisms that are common within robotics, including ROS and ROS2-based communication.
You can see all of the supported message types for ROS, ROS2, and CyberRT by our default bridges here.
If you use a custom or proprietary communication protocol and interface for your System Under Test, SVL Simulator bridge plugins allow you to build the proper interface to handle the specific format and protocol of your communication.
Reference Systems Under Test#
SVL Simulator itself does not contain any autonomous vehicle software or logic that runs on a self-driving vehicle or robot - this system (the System Under Test) is provided and tested by the user together with the simulator.
We instead provide guides and tutorials on open source reference platforms that can be easily connected to SVL Simulator. This provides a jumping off point for additional development of particular algorithms, replacement of various modules, higher-level testing for applications like Future Mobility.
See the links below for guides on the running a reference autonomous driving system: