diff --git a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab
index 9e4eec1aa..d1e13bd08 100644
--- a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab	
+++ b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab	
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diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
index 250dc4e37..888085da2 100644
--- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
+++ b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity
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@@ -6303,7 +6515,7 @@ Transform:
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   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
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   m_LocalScale: {x: 1, y: 1, z: 1}
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@@ -6479,8 +6691,6 @@ MonoBehaviour:
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@@ -7598,8 +7808,6 @@ MonoBehaviour:
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@@ -11201,6 +11409,156 @@ CanvasRenderer:
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diff --git a/Assets/AWSIM/Scripts/UI/Toggle/UIKeyboardControlToggle.cs b/Assets/AWSIM/Scripts/UI/Toggle/UIKeyboardControlToggle.cs
index 1fe17c34b..746bae646 100644
--- a/Assets/AWSIM/Scripts/UI/Toggle/UIKeyboardControlToggle.cs
+++ b/Assets/AWSIM/Scripts/UI/Toggle/UIKeyboardControlToggle.cs
@@ -1,3 +1,5 @@
+using AWSIM.Scripts.Vehicles.VPP_Integration;
+using AWSIM.Scripts.Vehicles.VPP_Integration.Enums;
 using UnityEngine;
 
 namespace AWSIM.Scripts.UI.Toggle
@@ -5,15 +7,15 @@ namespace AWSIM.Scripts.UI.Toggle
     public class UIKeyboardControlToggle : MonoBehaviour
     {
         private GameObject _egoVehicle;
-        private VehicleKeyboardInput _vehicleKeyboardInput;
+        private AutowareVPPAdapter _adapter;
 
         private void Start()
         {
-            _egoVehicle = GameObject.FindGameObjectWithTag("Ego");
-            _vehicleKeyboardInput = _egoVehicle.GetComponent<VehicleKeyboardInput>();
+            _egoVehicle = GameObject.FindWithTag("Ego");
+            _adapter = _egoVehicle.GetComponent<AutowareVPPAdapter>();
 
-            // Set the toggle to the current state of the keyboard control
-            GetComponent<UnityEngine.UI.Toggle>().isOn = _vehicleKeyboardInput.enabled;
+            // Set the toggle to the current state of the keyboard control mode
+            GetComponent<UnityEngine.UI.Toggle>().isOn = _adapter.ControlModeInput != VPPControlMode.Autonomous;
         }
 
         public void Activate()
@@ -25,7 +27,9 @@ public void Activate()
         // Toggle the keyboard control
         public void OnClick(bool isOn)
         {
-            _vehicleKeyboardInput.enabled = isOn;
+            _adapter.ControlModeInput = _adapter.ControlModeInput == VPPControlMode.Autonomous
+                ? VPPControlMode.Manual
+                : VPPControlMode.Autonomous;
         }
     }
 }
diff --git a/Assets/AWSIM/Scripts/UI/UICard.cs b/Assets/AWSIM/Scripts/UI/UICard.cs
index cadf35b03..c7e89a408 100644
--- a/Assets/AWSIM/Scripts/UI/UICard.cs
+++ b/Assets/AWSIM/Scripts/UI/UICard.cs
@@ -8,8 +8,6 @@ public class UICard : MonoBehaviour
     {
         [SerializeField] private Button _cardTopBarButton;
         [SerializeField] private RectTransform _barChevronRect;
-        [SerializeField] private float _chevronExpandedDegrees = 90f;
-        [SerializeField] private float _chevronCollapsedDegrees = 0f;
 
         [SerializeField] private bool _isCardOpen;
         [SerializeField] public float ElementHeight = 30f;
diff --git a/Assets/AWSIM/Materials/New Material.mat.meta~refs/remotes/origin.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration.meta
similarity index 77%
rename from Assets/AWSIM/Materials/New Material.mat.meta~refs/remotes/origin.meta
rename to Assets/AWSIM/Scripts/Vehicles/VPP Integration.meta
index 61c537557..9210bd146 100644
--- a/Assets/AWSIM/Materials/New Material.mat.meta~refs/remotes/origin.meta	
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration.meta	
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 2b9db00854f341fd9ac861e54236e1a3
+guid: e37e91ad67047f8d7a4e19d89bccaf00
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs
new file mode 100644
index 000000000..ad93823af
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs	
@@ -0,0 +1,343 @@
+using System;
+using System.Collections.Generic;
+using AWSIM.Scripts.Vehicles.VPP_Integration.Enums;
+using AWSIM.Scripts.Vehicles.VPP_Integration.IVehicleControlModes;
+using UnityEngine;
+using VehiclePhysics;
+
+namespace AWSIM.Scripts.Vehicles.VPP_Integration
+{
+    public class AutowareVPPAdapter : MonoBehaviour
+    {
+        /// <summary>
+        /// This script applies the VPP vehicle inputs.
+        /// Vehicle inputs are updated from the `Ros2ToVPPInput.cs`.
+        /// Results from this script are sent to the `VPPtoRos2Publisher.cs`.
+        /// </summary>
+
+        // Initial Position inputs from Rviz
+        [NonSerialized] public bool WillUpdatePositionInput;
+
+        [NonSerialized] public Vector3 PositionInput;
+        [NonSerialized] public Quaternion RotationInput;
+
+        /// Control inputs from Autoware
+        [NonSerialized] public float SteerAngleInput;
+
+        private float _steerAngleInput => SteerAngleInput;
+
+        public bool IsDefinedSteeringTireRotationRateInput { get; set; }
+        public float SteeringTireRotationRateInput { get; set; }
+
+        // Gear input from Autoware
+        [NonSerialized] public Gearbox.AutomaticGear AutomaticShiftInput;
+        private Gearbox.AutomaticGear _automaticShiftInput => AutomaticShiftInput;
+
+        // Signal input from Autoware
+        [NonSerialized] public VPPSignal VehicleSignalInput;
+        private VPPSignal _vehicleSignalInput => VehicleSignalInput;
+
+        // Emergency input from Autoware
+        public bool IsEmergencyInput { get; set; }
+
+        // Control mode input from Autoware
+        public VPPControlMode ControlModeInput { get; set; }
+
+        // Actuation commands from Autoware
+        public double SteerInput { get; set; }
+        [NonSerialized] public double BrakeInput;
+        private double _brakeInput => BrakeInput;
+        [NonSerialized] public double ThrottleInput;
+        private double _throttleInput => ThrottleInput;
+
+        // Outputs from Unity/VPP
+        public VPPControlMode VpControlModeReport { get; private set; }
+        public int VpGearReport { get; private set; }
+        public Vector3 VpVelocityReport { get; private set; }
+        public Vector3 VpAngularVelocityReport { get; private set; }
+        public float VpSteeringReport { get; private set; }
+        public VPPSignal VpTurnIndicatorReport { get; private set; }
+        public VPPSignal VpHazardLightsReport { get; private set; }
+        public double VpThrottleStatusReport { get; private set; }
+        public double VpBrakeStatusReport { get; private set; }
+        public double VpSteerStatusReport { get; private set; }
+
+        // VPP components
+        private VPVehicleController _vehicleController;
+        private VPStandardInput _standardInput;
+        private VPCameraController _cameraController;
+
+        [SerializeField] private VPWheelCollider[] _frontWheels;
+
+        private Rigidbody _rigidbody;
+
+        [Tooltip("Whether set wheel angle directly from Autoware or simulate with additive steering wheel input")]
+        [SerializeField]
+        private bool _simulateSteering;
+
+        [Tooltip("Change applied to steering wheel per fixed update in degrees")]
+        [Range(0f, 100f)]
+        [SerializeField]
+        private float _steerWheelInput = 5f;
+
+        private int _vppSteerFromLastFrame;
+
+        [Tooltip("Brake pedal percent on emergency brake. This value is mapped to [0, 10000] to match VPP input")]
+        [Range(0f, 100f)]
+        [SerializeField]
+        private float _emergencyBrakePercent = 100f;
+
+        public float CurrentSpeed { get; private set; }
+        public float CurrentJerk { get; private set; }
+        // private float _previousAcceleration;
+
+        // Control mode variables
+        private Dictionary<VPPControlMode, IVehicleControlMode> _controlModes;
+        private IVehicleControlMode _currentMode;
+
+        // RViz2 Update position variables
+        [Header("RViz2 Update Position")]
+        [SerializeField]
+        private float _updatePositionOffsetY = 1.33f;
+
+        [SerializeField] private float _updatePositionRayOriginY = 1000f;
+
+        [Header("Calibration Mode")]
+        [Tooltip(
+            "Enable pedal calibration mode. Use Numpad(+,-,0) keys to set constant throttle/brake values for ease of calibration")]
+        [SerializeField]
+        private bool _doPedalCalibration;
+
+        private int _brakeAmount;
+        private int _throttleAmount;
+
+        // Constants used for conversion between VPP and Autoware
+        private const float VppToAutowareMultiplier = 0.0001f;
+        private const int AutowareToVppMultiplier = 10000;
+
+        private void Awake()
+        {
+            //TODO: Implement the control mode switch from simulator (mozzz)
+            // Initialize the control mode as Autonomous
+            ControlModeInput = VPPControlMode.Autonomous;
+        }
+
+        private void Start()
+        {
+            // get components
+            _vehicleController = GetComponent<VPVehicleController>();
+            _standardInput = GetComponent<VPStandardInput>();
+            _rigidbody = GetComponent<Rigidbody>();
+
+            // set camera target to this vehicle
+            _cameraController = FindObjectOfType<VPCameraController>();
+            _cameraController.target = transform;
+
+            InitializeControlModes();
+
+            // Set initial vehicle gear to Park to prevent movement
+            _vehicleController.data.bus[Channel.Input][InputData.AutomaticGear] = (int)Gearbox.AutomaticGear.P;
+
+            // reset vpp stuff for multi-scene loading (no idea why, but it works)
+            _vehicleController.enabled = false;
+            _vehicleController.enabled = true;
+        }
+
+        // private void Update()
+        // {
+        //     // TODO: Implement the control mode switch from simulator (mozzz)
+        //     UserSwitchControlMode();
+        // }
+
+        private void FixedUpdate()
+        {
+            // Update the ego position depending on RViz Input.
+            if (WillUpdatePositionInput)
+            {
+                UpdateEgoPosition();
+                WillUpdatePositionInput = false;
+            }
+
+            if (_doPedalCalibration)
+            {
+                PedalCalibrationMode();
+            }
+            else
+            {
+                // If keyboard enabled stop Autoware control.
+                // if (_standardInput.enabled) return;
+
+                // Control the vehicle based on the control mode
+                ControlVehicle(ControlModeInput);
+            }
+
+            // Update the publisher values for VPPToRos2Publisher.cs
+            ReportVehicleState();
+        }
+
+        private void InitializeControlModes()
+        {
+            _controlModes = new Dictionary<VPPControlMode, IVehicleControlMode>
+            {
+                { VPPControlMode.NoCommand, new ControlMode.NoCommand() },
+                { VPPControlMode.Autonomous, new ControlMode.Autonomous() },
+                { VPPControlMode.AutonomousSteerOnly, new ControlMode.AutonomousSteerOnly() },
+                { VPPControlMode.AutonomousVelocityOnly, new ControlMode.AutonomousVelocityOnly() },
+                { VPPControlMode.Manual, new ControlMode.Manual() },
+                { VPPControlMode.Disengaged, new ControlMode.Disengaged() },
+                { VPPControlMode.NotReady, new ControlMode.NotReady() }
+            };
+        }
+
+        private void ControlVehicle(VPPControlMode controlMode)
+        {
+            if (_controlModes.TryGetValue(controlMode, out _currentMode))
+            {
+                _currentMode.ExecuteControlMode(this);
+            }
+            else
+            {
+                Debug.LogWarning("Control mode is not recognized.");
+            }
+        }
+
+        public void HandleHazardLights()
+        {
+            // TODO: this is implemented in Ros2ToVPPInput.cs, move it here (mozzz)
+        }
+
+        public void HandleTurnSignal()
+        {
+            // TODO: this is implemented in Ros2ToVPPInput.cs, move it here (mozzz)
+        }
+
+        public void HandleSteer()
+        {
+            if (_simulateSteering)
+            {
+                SimulateSteeringWheelInput();
+            }
+            else
+            {
+                SetWheelSteerAngleDirectly(_steerAngleInput);
+            }
+        }
+
+        private void SetWheelSteerAngleDirectly(float angle)
+        {
+            foreach (var wheel in _frontWheels)
+            {
+                wheel.steerAngle = angle;
+            }
+        }
+
+        // temp method to simulate steering wheel input with delay, also inaccurate (mozzz)
+        private void SimulateSteeringWheelInput()
+        {
+            if (SteerAngleInput == 0) return;
+
+            int steerAdjustment = SteerAngleInput > _vehicleController.wheelState[0].steerAngle
+                ? (int)_steerWheelInput
+                : -(int)_steerWheelInput;
+
+            _vehicleController.data.bus[Channel.Input][InputData.Steer] = _vppSteerFromLastFrame + steerAdjustment;
+            _vppSteerFromLastFrame = _vehicleController.data.bus[Channel.Input][InputData.Steer];
+        }
+
+        public void HandleGear()
+        {
+            _vehicleController.data.bus[Channel.Input][InputData.AutomaticGear] = (int)_automaticShiftInput;
+        }
+
+        public void HandleAcceleration()
+        {
+            // Store current values
+            CurrentSpeed = _vehicleController.speed;
+
+            SetThrottle((int)(_throttleInput * AutowareToVppMultiplier));
+            SetBrake((int)(_brakeInput * AutowareToVppMultiplier));
+        }
+
+        /// <summary>
+        /// Range:[0-10000]
+        /// </summary>
+        private void SetThrottle(int amount)
+        {
+            _vehicleController.data.bus[Channel.Input][InputData.Throttle] = amount;
+        }
+
+        /// <summary>
+        /// Range:[0-10000]
+        /// </summary>
+        private void SetBrake(int amount)
+        {
+            _vehicleController.data.bus[Channel.Input][InputData.Brake] = amount;
+        }
+
+        // TODO: report jerk state (mozzz)
+        private void ReportVehicleState()
+        {
+            VpControlModeReport = ControlModeInput;
+            VpHazardLightsReport = _vehicleSignalInput;
+            VpTurnIndicatorReport = _vehicleSignalInput;
+            VpSteeringReport = _frontWheels[0].steerAngle;
+            VpGearReport = _vehicleController.data.bus[Channel.Vehicle][VehicleData.GearboxMode];
+            VpVelocityReport =
+                transform.InverseTransformDirection(_rigidbody.velocity.normalized * _vehicleController.speed);
+            VpAngularVelocityReport = transform.InverseTransformDirection(_rigidbody.angularVelocity);
+            VpThrottleStatusReport =
+                _vehicleController.data.bus[Channel.Input][InputData.Throttle] * VppToAutowareMultiplier;
+            VpBrakeStatusReport = _vehicleController.data.bus[Channel.Input][InputData.Brake] * VppToAutowareMultiplier;
+            VpSteerStatusReport = _vehicleController.data.bus[Channel.Input][InputData.Steer] * VppToAutowareMultiplier;
+        }
+
+        private void UpdateEgoPosition()
+        {
+            // Method to update the position based on PositionInput
+            Vector3 rayOrigin = new Vector3(PositionInput.x, _updatePositionRayOriginY, PositionInput.z);
+            Vector3 rayDirection = Vector3.down;
+
+            if (Physics.Raycast(rayOrigin, rayDirection, out RaycastHit hit, Mathf.Infinity))
+            {
+                PositionInput = new Vector3(PositionInput.x, hit.point.y + _updatePositionOffsetY, PositionInput.z);
+                transform.SetPositionAndRotation(PositionInput, RotationInput);
+            }
+            else
+            {
+                Debug.LogWarning(
+                    "No mesh or collider detected on target location. Please ensure that the target location is on a mesh or collider.");
+            }
+        }
+
+        // TODO: Method to switch control mode based on user input (mozzz)
+        private void UserSwitchControlMode()
+        {
+        }
+
+        // TODO: Add UI and documentation for this method (mozzz)
+        /// <summary>
+        /// Used to enable Numpad(+,-,0) keys to set constant throttle/brake values for ease of calibration. %10 increments
+        /// </summary>
+        private void PedalCalibrationMode()
+        {
+            _vehicleController.data.bus[Channel.Input][InputData.Throttle] = _throttleAmount;
+            _vehicleController.data.bus[Channel.Input][InputData.Brake] = _brakeAmount;
+
+            if (Input.GetKeyDown(KeyCode.KeypadPlus))
+            {
+                _throttleAmount += 1000;
+            }
+
+            if (Input.GetKeyDown(KeyCode.KeypadMinus))
+            {
+                _brakeAmount += 1000;
+            }
+
+            if (Input.GetKeyDown(KeyCode.Keypad0))
+            {
+                _throttleAmount = 0;
+                _brakeAmount = 0;
+            }
+        }
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs.meta
new file mode 100644
index 000000000..58b745320
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs.meta	
@@ -0,0 +1,11 @@
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+guid: 0dbceea492288af5a9a663c606ad86a8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums.meta
new file mode 100644
index 000000000..73bf9adb4
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums.meta	
@@ -0,0 +1,8 @@
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+guid: 6dc2874f7c16a0a9aae83c59f25c4970
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPControlMode.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPControlMode.cs
new file mode 100644
index 000000000..7178573a8
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPControlMode.cs	
@@ -0,0 +1,13 @@
+namespace AWSIM.Scripts.Vehicles.VPP_Integration.Enums
+{
+    public enum VPPControlMode
+    {
+        NoCommand,
+        Autonomous,
+        AutonomousSteerOnly,
+        AutonomousVelocityOnly,
+        Manual,
+        Disengaged,
+        NotReady
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPControlMode.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPControlMode.cs.meta
new file mode 100644
index 000000000..86508601b
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPControlMode.cs.meta	
@@ -0,0 +1,11 @@
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+guid: d47a068cafd2d6f48bc48c942e6a5932
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPSignal.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPSignal.cs
new file mode 100644
index 000000000..406172388
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPSignal.cs	
@@ -0,0 +1,10 @@
+namespace AWSIM.Scripts.Vehicles.VPP_Integration.Enums
+{
+    public enum VPPSignal
+    {
+        None,
+        Left,
+        Right,
+        Hazard
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPSignal.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPSignal.cs.meta
new file mode 100644
index 000000000..8e8d68980
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Enums/VPPSignal.cs.meta	
@@ -0,0 +1,11 @@
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes.meta
new file mode 100644
index 000000000..e0cd4cf7c
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes.meta	
@@ -0,0 +1,8 @@
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs
new file mode 100644
index 000000000..e194cd3c0
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs	
@@ -0,0 +1,74 @@
+using UnityEngine;
+
+namespace AWSIM.Scripts.Vehicles.VPP_Integration.IVehicleControlModes
+{
+    // Vehicle control mode classes
+    public abstract class ControlMode
+    {
+        public class NoCommand : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                // Debug.Log("Control mode: No command");
+            }
+        }
+
+        public class Autonomous : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                adapter.HandleHazardLights();
+                adapter.HandleTurnSignal();
+                adapter.HandleAcceleration();
+                adapter.HandleGear();
+                adapter.HandleSteer();
+            }
+        }
+
+        public class AutonomousSteerOnly : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                adapter.HandleHazardLights();
+                adapter.HandleTurnSignal();
+                adapter.HandleGear();
+                adapter.HandleSteer();
+            }
+        }
+
+        public class AutonomousVelocityOnly : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                adapter.HandleHazardLights();
+                adapter.HandleTurnSignal();
+                adapter.HandleAcceleration();
+                adapter.HandleGear();
+            }
+        }
+
+        public class Manual : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                // Debug.Log("Control mode: Manual");
+            }
+        }
+
+        public class Disengaged : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                // Debug.Log("Control mode: Disengaged");
+            }
+        }
+
+        public class NotReady : IVehicleControlMode
+        {
+            public void ExecuteControlMode(AutowareVPPAdapter adapter)
+            {
+                // Debug.Log("Control mode: Not ready");
+            }
+        }
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs.meta
new file mode 100644
index 000000000..8ce909e6e
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs.meta	
@@ -0,0 +1,11 @@
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+guid: 99f769d911d27540280b4252a42b189d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/IVehicleControlMode.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/IVehicleControlMode.cs
new file mode 100644
index 000000000..2fd722d76
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/IVehicleControlMode.cs	
@@ -0,0 +1,8 @@
+namespace AWSIM.Scripts.Vehicles.VPP_Integration.IVehicleControlModes
+{
+    // Vehicle control mode interface
+    public interface IVehicleControlMode
+    {
+        void ExecuteControlMode(AutowareVPPAdapter adapter);
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/IVehicleControlMode.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/IVehicleControlMode.cs.meta
new file mode 100644
index 000000000..041e8c045
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/IVehicleControlMode.cs.meta	
@@ -0,0 +1,11 @@
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+  externalObjects: {}
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diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs
new file mode 100644
index 000000000..992a6c654
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs	
@@ -0,0 +1,173 @@
+using AWSIM.Scripts.Vehicles.VPP_Integration.Enums;
+using ROS2;
+using UnityEngine;
+
+namespace AWSIM.Scripts.Vehicles.VPP_Integration
+{
+    [RequireComponent(typeof(AutowareVPPAdapter))]
+    public class Ros2ToVPPInput : MonoBehaviour
+    {
+        [Header("AutowareVPPAdapter")]
+        [SerializeField]
+        private AutowareVPPAdapter _adapter;
+
+        [Header("Ros2 fields")]
+        [SerializeField]
+        private string controlModeTopic = "/vehicle/status/control_mode";
+
+        [SerializeField] private string turnIndicatorsCommandTopic = "/control/command/turn_indicators_cmd";
+        [SerializeField] private string hazardLightsCommandTopic = "/control/command/hazard_lights_cmd";
+        [SerializeField] private string controlCommandTopic = "/control/command/control_cmd";
+        [SerializeField] private string gearCommandTopic = "/control/command/gear_cmd";
+        [SerializeField] private string vehicleEmergencyStampedTopic = "/control/command/emergency_cmd";
+        [SerializeField] private string positionTopic = "/initialpose";
+        [SerializeField] private string actuationCommandTopic = "/control/command/actuation_cmd";
+
+        [SerializeField] private QoSSettings qosSettings = new();
+        [SerializeField] private QoSSettings positionQosSettings;
+        [SerializeField] private QoSSettings _actuationQosSettings;
+
+        // subscribers
+        private ISubscription<autoware_vehicle_msgs.msg.ControlModeReport> _controlModeSubscriber;
+        private ISubscription<autoware_vehicle_msgs.msg.TurnIndicatorsCommand> _turnIndicatorsCommandSubscriber;
+        private ISubscription<autoware_vehicle_msgs.msg.HazardLightsCommand> _hazardLightsCommandSubscriber;
+        private ISubscription<autoware_control_msgs.msg.Control> _controlCommandSubscriber;
+        private ISubscription<autoware_vehicle_msgs.msg.GearCommand> _gearCommandSubscriber;
+        private ISubscription<tier4_vehicle_msgs.msg.VehicleEmergencyStamped> _vehicleEmergencyStampedSubscriber;
+        private ISubscription<geometry_msgs.msg.PoseWithCovarianceStamped> _positionSubscriber;
+        private ISubscription<tier4_vehicle_msgs.msg.ActuationCommandStamped> _actuationCommandSubscriber;
+
+        private VPPSignal _turnIndicatorsCommand = VPPSignal.None;
+        private VPPSignal _hazardLightsCommand = VPPSignal.None;
+        private VPPSignal _input = VPPSignal.None;
+
+        private void Reset()
+        {
+            if (_adapter == null)
+                _adapter = GetComponent<AutowareVPPAdapter>();
+
+            // initialize default QoS params.
+            qosSettings.ReliabilityPolicy = ReliabilityPolicy.QOS_POLICY_RELIABILITY_RELIABLE;
+            qosSettings.DurabilityPolicy = DurabilityPolicy.QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+            qosSettings.HistoryPolicy = HistoryPolicy.QOS_POLICY_HISTORY_KEEP_LAST;
+            qosSettings.Depth = 1;
+        }
+
+        // TODO: handle this input in VPPVehicleSignalHandler.cs (mozzz)
+        /// <summary>
+        /// Processes the TurnSignal to be applied to the vehicle from the latest turnIndicatorsSignal and hazardLightsSignal values.
+        /// Priority : HAZARD > LEFT/RIGHT > NONE
+        /// </summary>
+        private void UpdateVehicleTurnSignal()
+        {
+            // HAZARD > LEFT, RIGHT > NONE
+            if (_hazardLightsCommand == VPPSignal.Hazard)
+                _input = _hazardLightsCommand;
+            else if (_turnIndicatorsCommand is VPPSignal.Left or VPPSignal.Right)
+                _input = _turnIndicatorsCommand;
+            else
+                _input = VPPSignal.None;
+
+            // input
+            if (!Equals(_adapter.VehicleSignalInput, _input))
+                _adapter.VehicleSignalInput = _input;
+        }
+
+        private void Start()
+        {
+            var qos = qosSettings.GetQoSProfile();
+            var positionQoS = positionQosSettings.GetQoSProfile();
+            var actuationQoSSettings = _actuationQosSettings.GetQoSProfile();
+
+            _controlModeSubscriber =
+                SimulatorROS2Node.CreateSubscription<autoware_vehicle_msgs.msg.ControlModeReport>(
+                    controlModeTopic,
+                    msg => { _adapter.ControlModeInput = Ros2ToVPPUtilities.Ros2ToVPPControlMode(msg); }, qos);
+
+            _turnIndicatorsCommandSubscriber =
+                SimulatorROS2Node.CreateSubscription<autoware_vehicle_msgs.msg.TurnIndicatorsCommand>(
+                    turnIndicatorsCommandTopic,
+                    msg =>
+                    {
+                        _turnIndicatorsCommand = Ros2ToVPPUtilities.Ros2ToVPPTurnSignal(msg);
+                        UpdateVehicleTurnSignal();
+                    }, qos);
+
+            _hazardLightsCommandSubscriber =
+                SimulatorROS2Node.CreateSubscription<autoware_vehicle_msgs.msg.HazardLightsCommand>(
+                    hazardLightsCommandTopic,
+                    msg =>
+                    {
+                        _hazardLightsCommand = Ros2ToVPPUtilities.Ros2ToVPPHazard(msg);
+                        UpdateVehicleTurnSignal();
+                    }, qos);
+
+            _controlCommandSubscriber = SimulatorROS2Node.CreateSubscription<autoware_control_msgs.msg.Control>(
+                controlCommandTopic, msg =>
+                {
+                    // longitudinal
+                    // _adapter.VelocityInput = msg.Longitudinal.Velocity;
+                    // _adapter.IsAccelerationDefinedInput = msg.Longitudinal.Is_defined_acceleration;
+                    // _adapter.AccelerationInput = msg.Longitudinal.Acceleration;
+                    // _adapter.IsJerkDefinedInput = msg.Longitudinal.Is_defined_jerk;
+                    // _adapter.JerkInput = msg.Longitudinal.Jerk;
+
+                    // lateral
+                    _adapter.SteerAngleInput = -msg.Lateral.Steering_tire_angle * Mathf.Rad2Deg;
+                    // _adapter.IsDefinedSteeringTireRotationRateInput =
+                    // msg.Lateral.Is_defined_steering_tire_rotation_rate;
+                    // _adapter.SteeringTireRotationRateInput = msg.Lateral.Steering_tire_rotation_rate;
+                }, qos);
+
+            _gearCommandSubscriber = SimulatorROS2Node.CreateSubscription<autoware_vehicle_msgs.msg.GearCommand>(
+                gearCommandTopic, msg => { _adapter.AutomaticShiftInput = Ros2ToVPPUtilities.Ros2ToVPPShift(msg); },
+                qos);
+
+            _vehicleEmergencyStampedSubscriber =
+                SimulatorROS2Node.CreateSubscription<tier4_vehicle_msgs.msg.VehicleEmergencyStamped>(
+                    vehicleEmergencyStampedTopic, msg => { _adapter.IsEmergencyInput = msg.Emergency; });
+
+            _positionSubscriber = SimulatorROS2Node.CreateSubscription<geometry_msgs.msg.PoseWithCovarianceStamped>(
+                positionTopic, msg =>
+                {
+                    var positionVector = new Vector3((float)msg.Pose.Pose.Position.X,
+                        (float)msg.Pose.Pose.Position.Y,
+                        (float)msg.Pose.Pose.Position.Z);
+
+                    var rotationVector = new Quaternion((float)msg.Pose.Pose.Orientation.X,
+                        (float)msg.Pose.Pose.Orientation.Y,
+                        (float)msg.Pose.Pose.Orientation.Z,
+                        (float)msg.Pose.Pose.Orientation.W);
+
+                    _adapter.PositionInput =
+                        ROS2Utility.RosToUnityPosition(positionVector - Environment.Instance.MgrsOffsetPosition);
+                    _adapter.RotationInput = ROS2Utility.RosToUnityRotation(rotationVector);
+                    _adapter.WillUpdatePositionInput = true;
+                }, positionQoS);
+
+            _actuationCommandSubscriber = SimulatorROS2Node.CreateSubscription<tier4_vehicle_msgs.msg.ActuationCommandStamped>(
+                actuationCommandTopic, msg =>
+                {
+                    _adapter.ThrottleInput = msg.Actuation.Accel_cmd;
+                    _adapter.BrakeInput = msg.Actuation.Brake_cmd;
+                    // _adapter.SteerInput = msg.Steer_cmd;
+                }, actuationQoSSettings);
+        }
+
+        private void OnDestroy()
+        {
+            SimulatorROS2Node.RemoveSubscription<autoware_vehicle_msgs.msg.ControlModeReport>(
+                _controlModeSubscriber);
+            SimulatorROS2Node.RemoveSubscription<autoware_vehicle_msgs.msg.TurnIndicatorsCommand>(
+                _turnIndicatorsCommandSubscriber);
+            SimulatorROS2Node.RemoveSubscription<autoware_vehicle_msgs.msg.HazardLightsCommand>(
+                _hazardLightsCommandSubscriber);
+            SimulatorROS2Node.RemoveSubscription<autoware_control_msgs.msg.Control>(_controlCommandSubscriber);
+            SimulatorROS2Node.RemoveSubscription<autoware_vehicle_msgs.msg.GearCommand>(_gearCommandSubscriber);
+            SimulatorROS2Node.RemoveSubscription<tier4_vehicle_msgs.msg.VehicleEmergencyStamped>(
+                _vehicleEmergencyStampedSubscriber);
+            SimulatorROS2Node.RemoveSubscription<geometry_msgs.msg.PoseWithCovarianceStamped>(_positionSubscriber);
+            SimulatorROS2Node.RemoveSubscription<tier4_vehicle_msgs.msg.ActuationCommandStamped>(_actuationCommandSubscriber);
+        }
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs.meta
new file mode 100644
index 000000000..72e1375d9
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs.meta	
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7ca678817e2c893b797f2e68f1cd5d67
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPUtilities.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPUtilities.cs
new file mode 100644
index 000000000..6243760e0
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPUtilities.cs	
@@ -0,0 +1,112 @@
+using AWSIM.Scripts.Vehicles.VPP_Integration.Enums;
+using VehiclePhysics;
+
+namespace AWSIM.Scripts.Vehicles.VPP_Integration
+{
+    public static class Ros2ToVPPUtilities
+    {
+        public static Gearbox.AutomaticGear Ros2ToVPPShift(autoware_vehicle_msgs.msg.GearCommand gearCommand)
+        {
+            return gearCommand.Command switch
+            {
+                autoware_vehicle_msgs.msg.GearReport.NONE or autoware_vehicle_msgs.msg.GearReport.PARK => Gearbox
+                    .AutomaticGear.P,
+                autoware_vehicle_msgs.msg.GearReport.REVERSE => Gearbox.AutomaticGear.R,
+                autoware_vehicle_msgs.msg.GearReport.NEUTRAL => Gearbox.AutomaticGear.N,
+                autoware_vehicle_msgs.msg.GearReport.DRIVE or autoware_vehicle_msgs.msg.GearReport.LOW => Gearbox
+                    .AutomaticGear.D,
+                _ => Gearbox.AutomaticGear.P
+            };
+        }
+
+        public static byte VPPToRos2Shift(int shift)
+        {
+            return shift switch
+            {
+                1 => autoware_vehicle_msgs.msg.GearReport.PARK,
+                2 => autoware_vehicle_msgs.msg.GearReport.REVERSE,
+                3 => autoware_vehicle_msgs.msg.GearReport.NEUTRAL,
+                4 or 5 or 6 or 7 or 8 => autoware_vehicle_msgs.msg.GearReport.DRIVE,
+                _ => autoware_vehicle_msgs.msg.GearReport.PARK
+            };
+        }
+
+        // Turn Signal conversion
+        public static VPPSignal Ros2ToVPPTurnSignal(
+            autoware_vehicle_msgs.msg.TurnIndicatorsCommand turnIndicatorsCommand)
+        {
+            return turnIndicatorsCommand.Command switch
+            {
+                autoware_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE => VPPSignal.None,
+                autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT => VPPSignal.Left,
+                autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT => VPPSignal.Right,
+                _ => VPPSignal.None
+            };
+        }
+
+        public static byte VPPToRos2TurnSignal(VPPSignal turnSignal)
+        {
+            return turnSignal switch
+            {
+                VPPSignal.None => autoware_vehicle_msgs.msg.TurnIndicatorsReport.DISABLE,
+                VPPSignal.Left => autoware_vehicle_msgs.msg.TurnIndicatorsReport.ENABLE_LEFT,
+                VPPSignal.Right => autoware_vehicle_msgs.msg.TurnIndicatorsReport.ENABLE_RIGHT,
+                _ => autoware_vehicle_msgs.msg.TurnIndicatorsReport.DISABLE
+            };
+        }
+
+        // Hazard Lights conversion
+        public static VPPSignal Ros2ToVPPHazard(
+            autoware_vehicle_msgs.msg.HazardLightsCommand hazardLightsCommand)
+        {
+            return hazardLightsCommand.Command switch
+            {
+                autoware_vehicle_msgs.msg.HazardLightsCommand.ENABLE => VPPSignal.Hazard,
+                autoware_vehicle_msgs.msg.HazardLightsCommand.DISABLE => VPPSignal.None,
+                _ => VPPSignal.None
+            };
+        }
+
+        public static byte VPPToRos2Hazard(VPPSignal turnSignal)
+        {
+            return turnSignal switch
+            {
+                VPPSignal.Hazard => autoware_vehicle_msgs.msg.HazardLightsReport.ENABLE,
+                VPPSignal.None => autoware_vehicle_msgs.msg.HazardLightsReport.DISABLE,
+                _ => autoware_vehicle_msgs.msg.HazardLightsReport.DISABLE
+            };
+        }
+
+        // Control Mode conversion
+        public static VPPControlMode Ros2ToVPPControlMode(
+            autoware_vehicle_msgs.msg.ControlModeReport controlMode)
+        {
+            return controlMode.Mode switch
+            {
+                autoware_vehicle_msgs.msg.ControlModeReport.NO_COMMAND => VPPControlMode.NoCommand,
+                autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS => VPPControlMode.Autonomous,
+                autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS_STEER_ONLY => VPPControlMode.AutonomousSteerOnly,
+                autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS_VELOCITY_ONLY => VPPControlMode.AutonomousVelocityOnly,
+                autoware_vehicle_msgs.msg.ControlModeReport.MANUAL => VPPControlMode.Manual,
+                autoware_vehicle_msgs.msg.ControlModeReport.DISENGAGED => VPPControlMode.Disengaged,
+                autoware_vehicle_msgs.msg.ControlModeReport.NOT_READY => VPPControlMode.NotReady,
+                _ => VPPControlMode.NoCommand
+            };
+        }
+
+        public static byte VPPToRos2ControlMode(VPPControlMode controlMode)
+        {
+            return controlMode switch
+            {
+                VPPControlMode.NoCommand => autoware_vehicle_msgs.msg.ControlModeReport.NO_COMMAND,
+                VPPControlMode.Autonomous => autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS,
+                VPPControlMode.AutonomousSteerOnly => autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS_STEER_ONLY,
+                VPPControlMode.AutonomousVelocityOnly => autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS_VELOCITY_ONLY,
+                VPPControlMode.Manual => autoware_vehicle_msgs.msg.ControlModeReport.MANUAL,
+                VPPControlMode.Disengaged => autoware_vehicle_msgs.msg.ControlModeReport.DISENGAGED,
+                VPPControlMode.NotReady => autoware_vehicle_msgs.msg.ControlModeReport.NOT_READY,
+                _ => autoware_vehicle_msgs.msg.ControlModeReport.NO_COMMAND
+            };
+        }
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPUtilities.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPUtilities.cs.meta
new file mode 100644
index 000000000..189746047
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPUtilities.cs.meta	
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5f31c4d6a2818575b84455f21ce5f4a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPToRos2Publisher.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPToRos2Publisher.cs
new file mode 100644
index 000000000..3a26e8f42
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPToRos2Publisher.cs	
@@ -0,0 +1,186 @@
+using System.Collections;
+using ROS2;
+using UnityEngine;
+
+namespace AWSIM.Scripts.Vehicles.VPP_Integration
+{
+    public class VPPToRos2Publisher : MonoBehaviour
+    {
+        [Header("AutowareVPPAdapter")]
+        [SerializeField]
+        private AutowareVPPAdapter _adapter;
+
+        [Header("Ros2 fields")]
+        [SerializeField]
+        private string _controlModeReportTopic = "/vehicle/status/control_mode";
+
+        [SerializeField] private string _gearReportTopic = "/vehicle/status/gear_status";
+        [SerializeField] private string _steeringReportTopic = "/vehicle/status/steering_status";
+        [SerializeField] private string _turnIndicatorsReportTopic = "/vehicle/status/turn_indicators_status";
+        [SerializeField] private string _hazardLightsReportTopic = "/vehicle/status/hazard_lights_status";
+        [SerializeField] private string _velocityReportTopic = "/vehicle/status/velocity_status";
+        [SerializeField] private string _ActuationStatusTopic = "/vehicle/status/actuation_status";
+        [SerializeField] private string _frameId = "base_link";
+
+        [Range(1, 60)][SerializeField] private int _publishHz = 30;
+        [SerializeField] private QoSSettings _qosSettings;
+
+        // messages
+        private autoware_vehicle_msgs.msg.ControlModeReport _controlModeReportMsg;
+        private autoware_vehicle_msgs.msg.GearReport _gearReportMsg;
+        private autoware_vehicle_msgs.msg.SteeringReport _steeringReportMsg;
+        private autoware_vehicle_msgs.msg.TurnIndicatorsReport _turnIndicatorsReportMsg;
+        private autoware_vehicle_msgs.msg.HazardLightsReport _hazardLightsReportMsg;
+        private autoware_vehicle_msgs.msg.VelocityReport _velocityReportMsg;
+        private tier4_vehicle_msgs.msg.ActuationStatusStamped _actuationStatusReport;
+
+        // publisher
+        private IPublisher<autoware_vehicle_msgs.msg.ControlModeReport> _controlModeReportPublisher;
+        private IPublisher<autoware_vehicle_msgs.msg.GearReport> _gearReportPublisher;
+        private IPublisher<autoware_vehicle_msgs.msg.SteeringReport> _steeringReportPublisher;
+        private IPublisher<autoware_vehicle_msgs.msg.TurnIndicatorsReport> _turnIndicatorsReportPublisher;
+        private IPublisher<autoware_vehicle_msgs.msg.HazardLightsReport> _hazardLightsReportPublisher;
+        private IPublisher<autoware_vehicle_msgs.msg.VelocityReport> _velocityReportPublisher;
+        private IPublisher<tier4_vehicle_msgs.msg.ActuationStatusStamped> _actuationStatusPublisher;
+
+        private bool _isInitialized;
+
+        private void Start()
+        {
+            InitializePublishers();
+            InitializeMessages();
+            _isInitialized = true;
+            if (_isInitialized)
+            {
+                StartCoroutine(PublishRoutine());
+            }
+        }
+
+        private IEnumerator PublishRoutine()
+        {
+            var interval = 1.0f / _publishHz;
+            interval -= 0.00001f; // Allow for accuracy errors.
+            while (true)
+            {
+                UpdateMessages();
+                PublishMessages();
+                yield return new WaitForSeconds(interval);
+            }
+        }
+
+        private void InitializePublishers()
+        {
+            var qos = _qosSettings.GetQoSProfile();
+            _controlModeReportPublisher =
+                SimulatorROS2Node.CreatePublisher<autoware_vehicle_msgs.msg.ControlModeReport>(_controlModeReportTopic,
+                    qos);
+            _gearReportPublisher =
+                SimulatorROS2Node.CreatePublisher<autoware_vehicle_msgs.msg.GearReport>(_gearReportTopic, qos);
+            _steeringReportPublisher =
+                SimulatorROS2Node.CreatePublisher<autoware_vehicle_msgs.msg.SteeringReport>(_steeringReportTopic, qos);
+            _turnIndicatorsReportPublisher =
+                SimulatorROS2Node.CreatePublisher<autoware_vehicle_msgs.msg.TurnIndicatorsReport>(
+                    _turnIndicatorsReportTopic, qos);
+            _hazardLightsReportPublisher =
+                SimulatorROS2Node.CreatePublisher<autoware_vehicle_msgs.msg.HazardLightsReport>(
+                    _hazardLightsReportTopic, qos);
+            _velocityReportPublisher =
+                SimulatorROS2Node.CreatePublisher<autoware_vehicle_msgs.msg.VelocityReport>(_velocityReportTopic, qos);
+            _actuationStatusPublisher =
+                SimulatorROS2Node.CreatePublisher<tier4_vehicle_msgs.msg.ActuationStatusStamped>(_ActuationStatusTopic,
+                    qos);
+        }
+
+        private void InitializeMessages()
+        {
+            _controlModeReportMsg = new autoware_vehicle_msgs.msg.ControlModeReport();
+            _gearReportMsg = new autoware_vehicle_msgs.msg.GearReport();
+            _steeringReportMsg = new autoware_vehicle_msgs.msg.SteeringReport();
+            _turnIndicatorsReportMsg = new autoware_vehicle_msgs.msg.TurnIndicatorsReport();
+            _hazardLightsReportMsg = new autoware_vehicle_msgs.msg.HazardLightsReport();
+            _velocityReportMsg = new autoware_vehicle_msgs.msg.VelocityReport
+            {
+                Header = new std_msgs.msg.Header
+                {
+                    Frame_id = _frameId,
+                }
+            };
+            _actuationStatusReport = new tier4_vehicle_msgs.msg.ActuationStatusStamped
+            {
+                Header = new std_msgs.msg.Header()
+                {
+                    Frame_id = _frameId,
+                }
+            };
+        }
+
+        private void UpdateMessages()
+        {
+            // ControlModeReport
+            _controlModeReportMsg.Mode = Ros2ToVPPUtilities.VPPToRos2ControlMode(_adapter.VpControlModeReport);
+
+            // GearReport
+            _gearReportMsg.Report = Ros2ToVPPUtilities.VPPToRos2Shift(_adapter.VpGearReport);
+
+            // SteeringReport
+            _steeringReportMsg.Steering_tire_angle = -1 * _adapter.VpSteeringReport * Mathf.Deg2Rad;
+
+            // TurnIndicatorsReport
+            _turnIndicatorsReportMsg.Report = Ros2ToVPPUtilities.VPPToRos2TurnSignal(_adapter.VehicleSignalInput);
+
+            // HazardLightsReport
+            _hazardLightsReportMsg.Report = Ros2ToVPPUtilities.VPPToRos2Hazard(_adapter.VehicleSignalInput);
+
+            // VelocityReport
+            var rosLinearVelocity = ROS2Utility.UnityToRosPosition(_adapter.VpVelocityReport);
+            var rosAngularVelocity = ROS2Utility.UnityToRosPosition(_adapter.VpAngularVelocityReport);
+            _velocityReportMsg.Longitudinal_velocity = rosLinearVelocity.x;
+            _velocityReportMsg.Lateral_velocity = rosLinearVelocity.y;
+            _velocityReportMsg.Heading_rate = rosAngularVelocity.z;
+
+            // ActuationStatusReport
+            _actuationStatusReport.Status.Accel_status = _adapter.VpThrottleStatusReport;
+            _actuationStatusReport.Status.Brake_status = _adapter.VpBrakeStatusReport;
+            _actuationStatusReport.Status.Steer_status = _adapter.VpSteerStatusReport;
+
+            // Update timestamps
+            var time = SimulatorROS2Node.GetCurrentRosTime();
+            _controlModeReportMsg.Stamp = time;
+            _gearReportMsg.Stamp = time;
+            _steeringReportMsg.Stamp = time;
+            _turnIndicatorsReportMsg.Stamp = time;
+            _hazardLightsReportMsg.Stamp = time;
+
+            MessageWithHeader velocityReportMsgHeader = _velocityReportMsg;
+            SimulatorROS2Node.UpdateROSTimestamp(ref velocityReportMsgHeader);
+            MessageWithHeader actuationStatusReportHeader = _actuationStatusReport;
+            SimulatorROS2Node.UpdateROSTimestamp(ref actuationStatusReportHeader);
+        }
+
+        private void PublishMessages()
+        {
+            _controlModeReportPublisher.Publish(_controlModeReportMsg);
+            _gearReportPublisher.Publish(_gearReportMsg);
+            _steeringReportPublisher.Publish(_steeringReportMsg);
+            _turnIndicatorsReportPublisher.Publish(_turnIndicatorsReportMsg);
+            _hazardLightsReportPublisher.Publish(_hazardLightsReportMsg);
+            _velocityReportPublisher.Publish(_velocityReportMsg);
+            _actuationStatusPublisher.Publish(_actuationStatusReport);
+        }
+
+        private void OnDestroy()
+        {
+            StopCoroutine(PublishRoutine());
+
+            SimulatorROS2Node.RemovePublisher<autoware_vehicle_msgs.msg.ControlModeReport>(_controlModeReportPublisher);
+            SimulatorROS2Node.RemovePublisher<autoware_vehicle_msgs.msg.GearReport>(_gearReportPublisher);
+            SimulatorROS2Node.RemovePublisher<autoware_vehicle_msgs.msg.SteeringReport>(_steeringReportPublisher);
+            SimulatorROS2Node.RemovePublisher<autoware_vehicle_msgs.msg.TurnIndicatorsReport>(
+                _turnIndicatorsReportPublisher);
+            SimulatorROS2Node.RemovePublisher<autoware_vehicle_msgs.msg.HazardLightsReport>(
+                _hazardLightsReportPublisher);
+            SimulatorROS2Node.RemovePublisher<autoware_vehicle_msgs.msg.VelocityReport>(_velocityReportPublisher);
+            SimulatorROS2Node.RemovePublisher<tier4_vehicle_msgs.msg.ActuationStatusStamped>(_actuationStatusPublisher);
+        }
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPToRos2Publisher.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPToRos2Publisher.cs.meta
new file mode 100644
index 000000000..eff5d0854
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPToRos2Publisher.cs.meta	
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a8d1cd8ae6a65d2f3bd79183dfecd210
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPVehicleSignalHandler.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPVehicleSignalHandler.cs
new file mode 100644
index 000000000..a49ecc077
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPVehicleSignalHandler.cs	
@@ -0,0 +1,151 @@
+using AWSIM.Scripts.Vehicles.VPP_Integration.Enums;
+using UnityEngine;
+using UnityEngine.Serialization;
+using VehiclePhysics;
+
+namespace AWSIM.Scripts.Vehicles.VPP_Integration
+{
+    // Handle the signals for the VPP vehicle
+
+    [RequireComponent(typeof(AutowareVPPAdapter))]
+    [RequireComponent(typeof(VPVehicleController))]
+    public class VPPVehicleSignalHandler : MonoBehaviour
+    {
+        [SerializeField] private AutowareVPPAdapter _adapter;
+        [SerializeField] private VPVehicleController _vpVehicle;
+
+        [Header("BrakeLight")]
+        [SerializeField]
+        private VehicleVisualEffect.EmissionMaterial[] brakeLights;
+
+        [Header("TurnSignal")]
+        [SerializeField]
+        private VehicleVisualEffect.EmissionMaterial[] leftTurnSignalLights;
+
+        [SerializeField] private VehicleVisualEffect.EmissionMaterial[] rightTurnSignalLights;
+        [SerializeField] private float _turnSignalTimerIntervalSec = 0.5f;
+        private float _turnSignalTimer;
+        private bool _turnSignalOn;
+
+        [Header("ReverseLight")]
+        [SerializeField]
+        private VehicleVisualEffect.EmissionMaterial[] _reverseLights;
+
+        private void Reset()
+        {
+            if (_adapter == null)
+                _adapter = GetComponent<AutowareVPPAdapter>();
+            if (_vpVehicle == null)
+                _vpVehicle = GetComponent<VPVehicleController>();
+        }
+
+        private void Start()
+        {
+            foreach (var e in brakeLights) e.Initialize();
+            foreach (var e in leftTurnSignalLights) e.Initialize();
+            foreach (var e in rightTurnSignalLights) e.Initialize();
+            foreach (var e in _reverseLights) e.Initialize();
+        }
+
+        private void Update()
+        {
+            // User input for turn signal.
+            if (Input.GetKey(KeyCode.Alpha1))
+                _adapter.VehicleSignalInput = VPPSignal.Left;
+            else if (Input.GetKey(KeyCode.Alpha2))
+                _adapter.VehicleSignalInput = VPPSignal.Right;
+            else if (Input.GetKey(KeyCode.Alpha3))
+                _adapter.VehicleSignalInput = VPPSignal.Hazard;
+            else if (Input.GetKey(KeyCode.Alpha4))
+                _adapter.VehicleSignalInput = VPPSignal.None;
+
+            // brake light.
+            var isBrakeLight = IsBrakeLight();
+            ApplyLights(brakeLights, isBrakeLight);
+
+            // reverse light.
+            var isReverseLight = IsReverseLight();
+            ApplyLights(_reverseLights, isReverseLight);
+
+            // User input for brake & reverse light.
+            if (Input.GetKey(KeyCode.S) || Input.GetKey(KeyCode.Space))
+            {
+                ApplyLights(brakeLights, true);
+            }
+
+            if (_vpVehicle.data.bus[Channel.Vehicle][VehicleData.GearboxMode] == (int)Gearbox.AutomaticGear.R)
+            {
+                ApplyLights(brakeLights, true);
+                ApplyLights(_reverseLights, true);
+            }
+
+            // turn signal light.
+            if (IsTurnSignalOn() == false)
+            {
+                _turnSignalTimer = 0;
+                _turnSignalOn = false;
+                ApplyLights(leftTurnSignalLights, false);
+                ApplyLights(rightTurnSignalLights, false);
+                return;
+            }
+
+            _turnSignalTimer -= Time.deltaTime;
+            if (_turnSignalTimer < 0f)
+            {
+                _turnSignalTimer = _turnSignalTimerIntervalSec;
+                _turnSignalOn = !_turnSignalOn;
+            }
+
+            var isTurnLeftLight = IsTurnLeftLight();
+            ApplyLights(leftTurnSignalLights, isTurnLeftLight);
+
+            var isTurnRightLight = IsTurnRightLight();
+            ApplyLights(rightTurnSignalLights, isTurnRightLight);
+        }
+
+        private bool IsBrakeLight()
+        {
+            return (_adapter.AutomaticShiftInput == Gearbox.AutomaticGear.D && _adapter.CurrentSpeed < 0)
+                   || (_adapter.AutomaticShiftInput == Gearbox.AutomaticGear.R && _adapter.CurrentSpeed < 0);
+        }
+
+        private bool IsReverseLight()
+        {
+            return _adapter.AutomaticShiftInput == Gearbox.AutomaticGear.R;
+        }
+
+        private bool IsTurnSignalOn()
+        {
+            return _adapter.VehicleSignalInput is
+                VPPSignal.Left or VPPSignal.Right or VPPSignal.Hazard;
+        }
+
+        private bool IsTurnLeftLight()
+        {
+            return _adapter.VehicleSignalInput is
+                VPPSignal.Left or VPPSignal.Hazard && _turnSignalOn;
+        }
+
+        private bool IsTurnRightLight()
+        {
+            return _adapter.VehicleSignalInput is
+                VPPSignal.Right or VPPSignal.Hazard && _turnSignalOn;
+        }
+
+        private static void ApplyLights(VehicleVisualEffect.EmissionMaterial[] emissionMaterials, bool isOn)
+        {
+            foreach (var e in emissionMaterials)
+            {
+                e.Set(isOn);
+            }
+        }
+
+        private void OnDestroy()
+        {
+            foreach (var e in brakeLights) e.Destroy();
+            foreach (var e in leftTurnSignalLights) e.Destroy();
+            foreach (var e in rightTurnSignalLights) e.Destroy();
+            foreach (var e in _reverseLights) e.Destroy();
+        }
+    }
+}
diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPVehicleSignalHandler.cs.meta b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPVehicleSignalHandler.cs.meta
new file mode 100644
index 000000000..d3111f4c3
--- /dev/null
+++ b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/VPPVehicleSignalHandler.cs.meta	
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e59ef37f82b1643d0a1d62edf54a2c1b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleVisualEffect.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleVisualEffect.cs
index 6f760b16a..28922edb5 100644
--- a/Assets/AWSIM/Scripts/Vehicles/VehicleVisualEffect.cs
+++ b/Assets/AWSIM/Scripts/Vehicles/VehicleVisualEffect.cs
@@ -11,30 +11,32 @@ namespace AWSIM
     /// </summary>
 
     //TODO: Implement proper lighting system for vehicle.
-
     [RequireComponent(typeof(Vehicle))]
     public class VehicleVisualEffect : MonoBehaviour
     {
         [Serializable]
         public class EmissionMaterial
         {
-            [SerializeField] MeshRenderer meshRenderer;
-            [SerializeField] int materialIndex;
-            [SerializeField] Color lightingColor;
-            [SerializeField] float emissionIntensity;
+            [SerializeField] private MeshRenderer meshRenderer;
+            [SerializeField] private int materialIndex;
+
+            [ColorUsage(false, true)]
+            [SerializeField]
+            private Color lightingColor;
 
-            Material material = null;
-            private Color defaultEmissionColor;
+            [SerializeField] private float emissionIntensity;
 
-            const string EmissionColor = "_EmissionColor";
+            private Material _material;
+            private Color _defaultEmissionColor;
+            private const string EmissionColor = "_EmissionColor";
 
             public void Initialize()
             {
-                if (material == null)
+                if (_material == null)
                 {
-                    material = meshRenderer.materials[materialIndex];
-                    material.EnableKeyword("_EMISSION");
-                    defaultEmissionColor = Color.black;
+                    _material = meshRenderer.materials[materialIndex];
+                    _material.EnableKeyword("_EMISSION");
+                    _defaultEmissionColor = Color.black;
                 }
             }
 
@@ -42,35 +44,40 @@ public void Set(bool isLightOn)
             {
                 if (isLightOn)
                 {
-                    material.SetColor(EmissionColor, lightingColor * emissionIntensity);
+                    // _material.SetColor(EmissionColor, lightingColor * emissionIntensity);
+                    _material.SetColor(EmissionColor, lightingColor);
                 }
                 else
                 {
-                    material.SetColor(EmissionColor, defaultEmissionColor);
+                    _material.SetColor(EmissionColor, _defaultEmissionColor);
                 }
             }
 
             public void Destroy()
             {
-                if (material != null)
-                    UnityEngine.Object.Destroy(material);
+                if (_material != null)
+                    UnityEngine.Object.Destroy(_material);
             }
         }
 
         [SerializeField] Vehicle vehicle;
 
         [Header("BrakeLight")]
-        [SerializeField] EmissionMaterial[] brakeLights;
+        [SerializeField]
+        EmissionMaterial[] brakeLights;
 
         [Header("TurnSignal")]
-        [SerializeField] EmissionMaterial[] leftTurnSignalLights;
+        [SerializeField]
+        EmissionMaterial[] leftTurnSignalLights;
+
         [SerializeField] EmissionMaterial[] rightTurnSignalLights;
         [SerializeField] float turnSignalTimerIntervalSec = 0.5f;
         float turnSignalTimer = 0;
         bool turnSignalOn = false;
 
         [Header("ReverseLight")]
-        [SerializeField] EmissionMaterial[] reverseLights;
+        [SerializeField]
+        EmissionMaterial[] reverseLights;
 
         void Reset()
         {
@@ -131,7 +138,7 @@ void Update()
             bool IsBrakeLight()
             {
                 return (vehicle.AutomaticShiftInput == Vehicle.Shift.DRIVE && vehicle.AccelerationInput < 0)
-                    || (vehicle.AutomaticShiftInput == Vehicle.Shift.REVERSE && vehicle.AccelerationInput < 0);
+                       || (vehicle.AutomaticShiftInput == Vehicle.Shift.REVERSE && vehicle.AccelerationInput < 0);
             }
 
             bool IsReverseLight()
@@ -142,22 +149,22 @@ bool IsReverseLight()
             bool IsTurnSignalOn()
             {
                 return ((vehicle.SignalInput == Vehicle.TurnSignal.LEFT)
-                    || ((vehicle.SignalInput == Vehicle.TurnSignal.RIGHT)
-                    || (vehicle.SignalInput == Vehicle.TurnSignal.HAZARD)));
+                        || ((vehicle.SignalInput == Vehicle.TurnSignal.RIGHT)
+                            || (vehicle.SignalInput == Vehicle.TurnSignal.HAZARD)));
             }
 
             bool IsTurnLeftLight()
             {
                 return ((vehicle.SignalInput == Vehicle.TurnSignal.LEFT)
-                    || (vehicle.SignalInput == Vehicle.TurnSignal.HAZARD))
-                    && turnSignalOn;
+                        || (vehicle.SignalInput == Vehicle.TurnSignal.HAZARD))
+                       && turnSignalOn;
             }
 
             bool IsTurnRightLight()
             {
                 return ((vehicle.SignalInput == Vehicle.TurnSignal.RIGHT)
-                    || (vehicle.SignalInput == Vehicle.TurnSignal.HAZARD))
-                    && turnSignalOn;
+                        || (vehicle.SignalInput == Vehicle.TurnSignal.HAZARD))
+                       && turnSignalOn;
             }
 
             void ApplyLights(EmissionMaterial[] emissionMaterials, bool isOn)
diff --git a/Assets/Vehicle Physics Pro.meta b/Assets/Vehicle Physics Pro.meta
new file mode 100644
index 000000000..181a9490f
--- /dev/null
+++ b/Assets/Vehicle Physics Pro.meta	
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a27b0d41643df94e49b0e8cd16f73f49
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Vehicle Physics Pro/.gitignore b/Assets/Vehicle Physics Pro/.gitignore
new file mode 100644
index 000000000..8b6c78f0d
--- /dev/null
+++ b/Assets/Vehicle Physics Pro/.gitignore	
@@ -0,0 +1,7 @@
+# Ignore everything except directories
+*
+!*/
+
+# But not these files...
+!.gitignore
+!/Editor/csc.rsp*
diff --git a/Assets/Vehicle Physics Pro/Editor/csc.rsp b/Assets/Vehicle Physics Pro/Editor/csc.rsp
new file mode 100644
index 000000000..da6a88339
--- /dev/null
+++ b/Assets/Vehicle Physics Pro/Editor/csc.rsp	
@@ -0,0 +1 @@
+-warn:0
diff --git a/Assets/Vehicle Physics Pro/Editor/csc.rsp.meta b/Assets/Vehicle Physics Pro/Editor/csc.rsp.meta
new file mode 100644
index 000000000..b0eec1ae4
--- /dev/null
+++ b/Assets/Vehicle Physics Pro/Editor/csc.rsp.meta	
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 996489e29286dd5e694b0e8f8a1c4aaf
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset
index 1be85f283..ad5b315ee 100644
--- a/ProjectSettings/DynamicsManager.asset
+++ b/ProjectSettings/DynamicsManager.asset
@@ -9,7 +9,7 @@ PhysicsManager:
   m_BounceThreshold: 2
   m_DefaultMaxDepenetrationVelocity: 10
   m_SleepThreshold: 0.005
-  m_DefaultContactOffset: 0.01
+  m_DefaultContactOffset: 0.02
   m_DefaultSolverIterations: 6
   m_DefaultSolverVelocityIterations: 1
   m_QueriesHitBackfaces: 0
@@ -17,15 +17,15 @@ PhysicsManager:
   m_EnableAdaptiveForce: 0
   m_ClothInterCollisionDistance: 0
   m_ClothInterCollisionStiffness: 0
-  m_ContactsGeneration: 1
-  m_LayerCollisionMatrix: ffefffffffefffffffefffffffffffffffefffffffefffffbfefffffffffffffffffffffffffffffffffffffffefffff88e7ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_ContactsGeneration: 0
+  m_LayerCollisionMatrix: fffffdfffffffdfffffffdfffffffffffffffdffffffffffbffffffffffffffffffffffffffffffffffffdffffffffffffffffffffffffffffffffffffffffffffffffffe8fbfdffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_SimulationMode: 0
-  m_AutoSyncTransforms: 0
-  m_ReuseCollisionCallbacks: 1
+  m_AutoSyncTransforms: 1
+  m_ReuseCollisionCallbacks: 0
   m_InvokeCollisionCallbacks: 1
   m_ClothInterCollisionSettingsToggle: 0
   m_ClothGravity: {x: 0, y: -9.81, z: 0}
-  m_ContactPairsMode: 0
+  m_ContactPairsMode: 3
   m_BroadphaseType: 0
   m_WorldBounds:
     m_Center: {x: 0, y: 0, z: 0}
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 90a406a9e..2bfea1bb4 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -141,7 +141,7 @@ PlayerSettings:
   loadStoreDebugModeEnabled: 0
   visionOSBundleVersion: 1.0
   tvOSBundleVersion: 1.0
-  bundleVersion: 1.3.1
+  bundleVersion: 1.4.0
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0
diff --git a/ProjectSettings/QualitySettings.asset b/ProjectSettings/QualitySettings.asset
index 3d5d6879f..7f271d5ca 100644
--- a/ProjectSettings/QualitySettings.asset
+++ b/ProjectSettings/QualitySettings.asset
@@ -4,7 +4,7 @@
 QualitySettings:
   m_ObjectHideFlags: 0
   serializedVersion: 5
-  m_CurrentQuality: 1
+  m_CurrentQuality: 3
   m_QualitySettings:
   - serializedVersion: 3
     name: Low
@@ -88,7 +88,7 @@ QualitySettings:
     streamingMipmapsRenderersPerFrame: 256
     streamingMipmapsMaxLevelReduction: 4
     streamingMipmapsMaxFileIORequests: 512
-    particleRaycastBudget: 2048
+    particleRaycastBudget: 1024
     asyncUploadTimeSlice: 2
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
@@ -137,7 +137,7 @@ QualitySettings:
     streamingMipmapsRenderersPerFrame: 512
     streamingMipmapsMaxLevelReduction: 6
     streamingMipmapsMaxFileIORequests: 512
-    particleRaycastBudget: 4096
+    particleRaycastBudget: 1024
     asyncUploadTimeSlice: 2
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
@@ -186,7 +186,7 @@ QualitySettings:
     streamingMipmapsRenderersPerFrame: 512
     streamingMipmapsMaxLevelReduction: 7
     streamingMipmapsMaxFileIORequests: 1024
-    particleRaycastBudget: 4096
+    particleRaycastBudget: 1024
     asyncUploadTimeSlice: 2
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
diff --git a/docs/Components/Vehicle/EgoVehicle/index.md b/docs/Components/Vehicle/EgoVehicle/index.md
index da4d6c2c7..1ca7e1b77 100644
--- a/docs/Components/Vehicle/EgoVehicle/index.md
+++ b/docs/Components/Vehicle/EgoVehicle/index.md
@@ -7,7 +7,7 @@ The default prefab `EgoVehicle` was developed using a *Lexus RX450h 2015* vehicl
 ![vehicle](vehicle.png)
 
 !!! tip "Own EgoVehicle prefab"
-    If you would like to develop your own  `EgoVehicle` prefab, we encourage you to read this [tutorial](../../../Components/Vehicle/AddNewVehicle/AddAVehicle/).
+    If you would like to develop your own `EgoVehicle` prefab, we encourage you to read this [tutorial](../../../Components/Vehicle/AddNewVehicle/AddAVehicle/).
 
 ### Supported features
 
diff --git a/docs/Components/Vehicle/VPPIntegration/index.md b/docs/Components/Vehicle/VPPIntegration/index.md
new file mode 100644
index 000000000..f215a1d03
--- /dev/null
+++ b/docs/Components/Vehicle/VPPIntegration/index.md
@@ -0,0 +1,146 @@
+# VPP Integration with the Ego Vehicle
+
+VPP is a package that provides realistic vehicle simulation. Here you can find a guide on how to integrate VPP with the
+Ego Vehicle.
+
+!!! tip "Example Vehicle"
+    It is recommended to take a look at the default Lexus vehicle prefab as example to see how the components are set up.
+
+## Initial setup
+
+To be able to use VPP with the ego vehicle, please attach these components to the vehicle prefab:
+From the VPP package:
+
+Added to prefab root:
+
+- `Vehicle Controller`
+- `Standard Input`
+- `Camera Target` (Optional, you can use your own implementation)
+- `Telemetry Window` (Optional, used to display telemetry data)
+- `Visual Effects` (Optional, used to visualize the steering wheel)
+
+!!! warning "Wheel Colliders"
+    VPP uses its own implementation of the `Wheel Colliders`! For the wheel colliders, please add the `Wheel Colliders`
+    provided by the VPP package. They share the same name with the default Unity components.
+
+After adding those scripts continue with adding the following components to the vehicle prefab:
+
+Added to prefab root:
+
+- `AutowareVPPAdapter.cs`: Used for applying the control inputs to the vehicle.
+- `Ros2ToVPPInput.cs`: Used for receiving the control inputs from the Autoware.
+- `VPPVehicleSignalHandler.cs`: Used for handling the signals from the vehicle.
+- `BirdEyeView.cs`: Used for providing top-down ortho view.
+
+To be able to report the vehicle state to the Autoware, you'll need this script in the URDF.
+_This script is added in the `VehicleStatusSensor` prefab by default._
+
+Added to URDF:
+
+- `VPPToRos2Publisher.cs`: Used for publishing the vehicle state to the Autoware.
+
+## Setting up the components
+
+After doing the initial setup, we will need to configure the components for your vehicle.
+
+Set up the `Vehicle Controller` and the `Wheel Colliders` with the correct values for your vehicle. Using values from
+the real vehicles will result in a more realistic simulation.
+
+You can refer to [VPP documentation](https://vehiclephysics.com/components/component-guide/) for more detailed
+information about the VPP components.
+
+As for the other components we've added to the vehicle, we have to give their necessary references.
+
+!!! warning "Camera Controller"
+    If you've added the `Camera Target` component, you'll need a separate gameObject with a `Camera Controller`. Don't
+    forget to assign vehicle Transform reference in this component. This is used by default in the `AutowareSimulation`
+    scene.
+
+### AutowareVPPAdapter.cs
+
+| Variable                       | Description                                                                                                                                                  |
+|--------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| `Front Wheels`                 | Used for handling the steering input. Assign the front wheel colliders of the vehicle.                                                                       |
+| `Simulate Steering`            | Simulate the steering instead of assigning wheel angles directly.                                                                                            |
+| `Steer Wheel Input`            | Change applied to steering wheel when simulating steering. Applied every in fixed update as an input to the VPP steering. _(0-100)_                          |
+| `Emergency Brake Percent`      | The amount of brake pedal percent applied when the emergency is triggered. _(0-100)_                                                                         |
+| `Update Position Offset Y`     | The height offset value for the vehicle position when initializing position of the vehicle from the Rviz. _(In meters)_                                      |
+| `Update Position Ray Origin Y` | The height of the raycast origin for the vehicle position when initializing position of the vehicle from the Rviz. _(In meters)_                             |
+| `Do Pedal Calibration`         | Mode for vehicle pedal calibration. If enabled the vehicle pedals can be set to certain percentages with Numpad(-,+,0) keys. Uses %10 increments by default. |
+
+### Ros2ToVPPInput.cs
+
+| Variable  | Description                                                                                             |
+|-----------|---------------------------------------------------------------------------------------------------------|
+| `Adapter` | Reference to the `AutowareVPPAdapter` script. _(Drag the object that has the corresponding component.)_ |
+| `Topics`  | Topics used in the Ros2 communication. You can change the topics according to your case.                |
+
+- `QoS Settings`: Quality of Service settings for the Ros2 communication. Currently, it is as follows:
+
+| Variable             | Value           |
+|----------------------|-----------------|
+| `Reliability Policy` | Reliable        |
+| `Durability Policy`  | Transient Local |
+| `History Policy`     | Keep Last       |
+| `Depth`              | 1               |
+
+- `Position QoS Setttings`: QoS settings for the position topic:
+
+| Variable             | Value     |
+|----------------------|-----------|
+| `Reliability Policy` | Reliable  |
+| `Durability Policy`  | Volatile  |
+| `History Policy`     | Keep Last |
+| `Depth`              | 1         |
+
+- `Actuation QoS Setttings`: QoS settings for the actuation topic:
+
+| Variable             | Value     |
+|----------------------|-----------|
+| `Reliability Policy` | Reliable  |
+| `Durability Policy`  | Volatile  |
+| `History Policy`     | Keep Last |
+| `Depth`              | 1         |
+
+### VehicleSignalHandler.cs
+
+| Variable     | Description                                                                                             |
+|--------------|---------------------------------------------------------------------------------------------------------|
+| `Adapter`    | Reference to the `AutowareVPPAdapter` script. _(Drag the object that has the corresponding component.)_ |
+| `Vp Vehicle` | Reference to the `Vehicle Controller` script. _(Drag the object that has the corresponding component.)_ |
+
+Rest of the signal related settings are same as `VehicleVisualEffect.cs`. These two scripts are basically same.
+
+### VPPToRos2Publisher.cs
+
+Same as `VehicleStatusSensor.cs` but the `Adapter` reference is the `AutowareVPPAdapter` script.
+
+## Setting up the child objects
+
+For the VPP to work correctly, you need to set up the child objects of the vehicle prefab.
+
+### Setting up the reference for Ackermann Steering:
+
+1. Create an empty game object named `"Ackermann"` and set as the direct child of the prefab. Then assign reference in
+   the `Vehicle Controller`.
+2. Move position of the created game object to the middle of the rear axle and set its height to the bottom of the rear
+   wheels. Make sure the rotations are `(0,0,0)`
+
+Assign the reference in the `Vehicle Controller`. For details, you can refer to the VPP.
+
+VPP Reference: [Ackermann](https://vehiclephysics.com/blocks/steering/)
+
+### Setting up the reference for Dynamics:
+
+1. Create an empty game object named `"Dynamics"` and set as the direct child of the prefab. Add the following
+   components to this object:
+    - `Rolling Friction`
+    - `Anti-roll Bar` (x2)
+
+2. Create an empty game object named `"Aero"` and set as the child of the "Dynamics". Add the following
+   components to this object:
+    - `Aerodynamic Surface`
+
+Assign the references in the `Vehicle Controller`. For configuring these components, you can refer to the VPP documentation.
+
+VPP Reference: [Dynamics](https://vehiclephysics.com/components/vehicle-dynamics/)
diff --git a/docs/DeveloperGuide/EditorSetup/VPPCommunityEdition/index.md b/docs/DeveloperGuide/EditorSetup/VPPCommunityEdition/index.md
new file mode 100644
index 000000000..75c6e31d0
--- /dev/null
+++ b/docs/DeveloperGuide/EditorSetup/VPPCommunityEdition/index.md
@@ -0,0 +1,28 @@
+# Vehicle Physics Pro Community Edition
+
+## Add VPP-CE from Asset Store
+
+- Go to Unity Asset Store and add VPP-CE to personal assets.
+
+[Vehicle Physics Pro Asset Store link](https://assetstore.unity.com/packages/tools/physics/vehicle-physics-pro-community-edition-153556)
+
+## Add VPP-CE to the Unity Editor
+
+1. Open up the Unity Editor.
+2. Go to the `Window` menu and select `Package Manager`.
+3. Make sure the `My Assets` tab is selected from the top left of the Package Manager window.
+4. Find & select the VPP-CE from the list and click `Download` or `Import` from the bottom left of the Package Manager
+   window.
+5. There will be a popup window showing contents of the package.
+   - Select `Sdk` folder to import. Rest of the content is optional.
+   - Click `Import` to add VPP-CE to the project.
+
+## Useful links:
+
+Unity Package manager:
+
+- [Manual](https://docs.unity3d.com/Manual/upm-ui.html)
+
+VPP Website:
+
+- [Vehicle Physics](https://vehiclephysics.com/)
diff --git a/docs/GettingStarted/QuickStartDemo/index.md b/docs/GettingStarted/QuickStartDemo/index.md
index 1b6de1239..8fe0c5274 100644
--- a/docs/GettingStarted/QuickStartDemo/index.md
+++ b/docs/GettingStarted/QuickStartDemo/index.md
@@ -206,15 +206,20 @@ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
 ```
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1
 ```
-8. Launch Autoware.
+8. Provide pedal maps to Autoware.  
+    Copy default Lexus pedal maps to the following location:  
+    Pedal Maps: [Google Drive Link](https://drive.google.com/drive/folders/1S0fcNHzkiF3F03hWqonQW8SYKPb2zQo-?usp=drive_link)  
+    Location: `.../autoware/install/autoware_raw_vehicle_cmd_converter/share/autoware_raw_vehicle_cmd_converter/data/default/`
+
+9. Launch Autoware.
 ```
 source install/setup.bash
-ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=<absolute path of map folder>
+ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=awsim_labs_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=<absolute path of map folder> launch_vehicle_interface:=true
 
 # Use the absolute path for the map folder, don't use the ~ operator.
 
 # Example:
-ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=/home/your_username/autoware_map/nishishinjuku_autoware_map
+ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=awsim_labs_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=/home/your_username/autoware_map/nishishinjuku_autoware_map launch_vehicle_interface:=true
 ```
 ![](Image_2.png)
 
diff --git a/docs/GettingStarted/SetupUnityProject/index.md b/docs/GettingStarted/SetupUnityProject/index.md
index 483c679ef..42ede304b 100644
--- a/docs/GettingStarted/SetupUnityProject/index.md
+++ b/docs/GettingStarted/SetupUnityProject/index.md
@@ -142,6 +142,10 @@ To properly run and use AWSIM project in Unity it is required to download map pa
 
     The Externals directory is added to the `.gitignore` because the map has a large file size and should not be directly uploaded to the repository.
 
+## Import Vehicle Physics Pro Community Edition Asset
+
+Import Vehicle Physics Pro CE by following these instructions: [VPP CE Setup](../../DeveloperGuide/EditorSetup/VPPCommunityEdition/index.md)
+
 ## Import Graphy Asset
 
 Import Graphy by following these instructions: [Graphy Asset Setup](../../DeveloperGuide/EditorSetup/Graphy/index.md)
diff --git a/mkdocs.yml b/mkdocs.yml
index 9abeacc34..d9a4b36b3 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -134,6 +134,7 @@ nav:
         - Add Visual Elements: Components/Vehicle/AddNewVehicle/AddVisualElements/index.md
       - Customize Slip: Components/Vehicle/CustomizeSlip/index.md
       - FollowCamera: Components/Vehicle/FollowCamera/index.md
+      - VPP Integration: Components/Vehicle/VPPIntegration/index.md
     - Sensors:
       - LiDAR Sensor:
         - LiDAR Sensor: Components/Sensors/LiDARSensor/LiDARSensor/index.md
@@ -180,6 +181,7 @@ nav:
     - VSCode Configuration: DeveloperGuide/EditorSetup/VSCode/index.md
     - Rider Configuration: DeveloperGuide/EditorSetup/JetBrainsRider/index.md
     - Graphy Asset Setup: DeveloperGuide/EditorSetup/Graphy/index.md
+    - Vehicle Physics Pro CE Setup: DeveloperGuide/EditorSetup/VPPCommunityEdition/index.md
     - Trouble shooting: DeveloperGuide/TroubleShooting/index.md
     - Documentation: DeveloperGuide/Documentation/index.md
     - License : DeveloperGuide/License/index.md