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Existing projects on vehicle simulation?

Dear Gazebo community, I would like to evaluate my model predictive control of an autonomous vehicle relying on GPS and IMU measurements ( Similar to this post ) However, I wonder if there is already an existing project I could contribute to instead of setting up a new one. Maybe already one, where other control approaches exist, which I can use as references.

As far as I can see, DRCSim supports only the humanoid robot (am I wrong here?)

Thank you very much for your help!