// the find
lgsvl/simulator
A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
A Unity HDRP-based simulator for autonomous vehicle development, built by LG to test self-driving stacks like Autoware and Apollo against synthetic sensor data (camera, lidar, radar) and HD maps. It's aimed at AV researchers and robotics teams who need a full driving environment rather than just a robotics-general simulator like Gazebo.
Deep, working integrations with real AV stacks (Autoware.auto, Apollo 5.0/6.0) rather than toy bridges, plus a published ITSC 2020 paper backing the sensor fidelity claims. Unity HDRP gives genuinely good visual fidelity for camera-based perception testing, and the asset pipeline supports custom maps and vehicle sensor configs. Over 500 forks show it was load-bearing for a real community, not just a demo repo.
Officially sunsetted since January 2022 — no bugfixes, no PR review, no new releases, confirmed dead by the maintainers themselves in the README. The 2021.3+ release depends on LG's closed-source WISE cloud service for cluster config and asset downloads, which won't be maintained past mid-2022, so the documented workflow is partially broken for anyone starting fresh today. Windows-only for good performance (Linux is explicitly second-class), and building from source requires a specific Unity Editor version with no guarantee it still matches current engine releases four years later.