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Dataspeed sells a development vehicle with a ROS interface.
http://www.ros.org/news/2016/02/driverless-development-vehicle-with-ros-interface.html
http://wiki.ros.org/dbw_mkz

Dataspeed also provides a simulation using gazebo. However, it is only available as binaries. The source code is closed. Any code developed for this simulation will also work on a physical vehicle with little to no changes.
https://bitbucket.org/DataspeedInc/dbw_mkz_simulation

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