Our software CR2AW builds an interface between CommonRoad and Autoware.Universe, to date the most popular open-source driving stack. This enables to use various motion planners using the CommonRoad format within the Autoware software stack and rapidly transfer new algorithms from simulation to a real vehicle. CR2AW is implemented as a ROS2 node which can be launched as a complete planning module within Autoware.

We are currently using CR2AW to develop planning algorithms for our TUM research vehicle EDGAR.

For setup and usage instructions, please refer to the README of the repository.