  Extensive testing is necessary to ensure the safety of autonomous driving
modules. In addition to component tests, the safety assessment of individual
modules also requires a holistic view at system level, which can be carried out
efficiently with the help of simulation. Achieving seamless compatibility
between a modular software stack and simulation is complex and poses a
significant challenge for many researchers. To ensure testing at the system
level with state-of-the-art AV software and simulation software, we have
developed and analyzed a bridge connecting the CARLA simulator with the AV
software Autoware Core/Universe. This publicly available bridge enables
researchers to easily test their modules within the overall software. Our
investigations show that an efficient and reliable communication system has
been established. We provide the simulation bridge as open-source software at
https://github.com/TUMFTM/Carla-Autoware-Bridge
