In the preceding section, we discussed the basic concepts of a self-driving car. That understanding will definitely help in this section too. In this section, we will simulate and interface some of the sensors that we are used in self-driving cars.

Here is the list of sensors that we are going to simulate and interface with ROS:

• Velodyne LIDAR
• Laser scanner
• Camera
• Stereo camera
• GPS
• IMU
• Ultrasonic sensor

We'll discuss how to set up the simulation using ROS and Gazebo and read the sensor values. This sensor interfacing will be useful when you build your own self-driving car simulation from scratch. So, if you know how to simulate and interface these sensors, it can definitely accelerate your self-driving car development. Let's start by simulating the Velodyne LIDAR.