Simulator

The simulator image provides closed-loop vehicle and environment simulation without real sensors or vehicle hardware. It includes:

• Configurable kinematic and dynamic vehicle models
• Dummy perception and vehicle interfaces
• Dummy doors and traffic infrastructure
• Scenario Simulator v2 adapter
• Localization simulation mode
• Simulated point cloud preprocessing
• Object tracking, shape estimation, and map-based prediction
• Occupancy and elevation map handling
• Vehicle command conversion
• Launch file: tier4_simulator_component.launch.xml

carla-interface builds on this image for CARLA-specific sensor and control translation.