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You can always start with the models for those vehicles and then modify them for your simulation including editing the meshes to make your own custom version. And you can definitely add sensors to them or any other model in simulation. https://answers.ros.org/question/51773/adding-sensors-to-gazebo-from-scratch/ https://answers.ros.org/question/210695/adding-a-camera-to-a-model-in-gazebo-beginner/

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