Open-Source Integrated Simulation Framework for Cooperative Autonomous Vehicles

While many mature and reliable simulation engines exist for different system components, such as the network or the sensing and physics subsystems, the integration of these simulators into a single framework and workflow is not always a straight-forward task. This paper presents such an integrated simulation framework, built from available open source components, focusing on cooperative autonomous vehicles research and development. The framework combines the CARLA simulation engine with the ETSI ITS-G5 implementation of the Artery/OMNET++ network simulator, as well as with selected functionality available in ROS, in order to provide a complete and high-fidelity integrated simulation environment which can be exploited for the development and testing of unaltered final code running in ROS-enabled devices.