asking for self-driving car simulation in gazebo 9 ros noetic.

edit

hello everyone, I am going to program a visual odometery python node for a simulation case such as self-driving car (working on some sensors, such as Lidar, Camera, etc). however, i couldn't find any simulation related to self-driving car for gazebo 9 and ros noetic. I would be appreciated if someone already worked on self-driving car in gazebo 9 ros noetic and send me the link to have that simulation. best regrads