As a side note, StreetDrone just opensourced their URDF model to be used in simulation in Gazebo.
This is an example of the collaboration we’d like to foster between simulator teams, hardware providers and developers.
Here’s the pull request that integrates their model with Autoware:
https://github.com/CPFL/Autoware/pull/2126
Kudos to @Efimia_Panagiotaki and @Antonis_Skardasis!