diff --git a/simulator/carla_autoware/calibration_maps/accel_map.csv b/simulator/carla_autoware/calibration_maps/accel_map.csv
new file mode 100644
index 0000000000000..18718c31df87e
--- /dev/null
+++ b/simulator/carla_autoware/calibration_maps/accel_map.csv
@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.090,-0.204,-0.490,-0.490,-0.491,-0.492,-0.493,-0.494,-0.495,-0.496,-0.500
+0.100,0.167,0.166,-0.093,-0.243,-0.244,-0.245,-0.246,-0.247,-0.248,-0.249,-0.280
+0.200,0.941,0.464,0.186,0.004,-0.100,-0.101,-0.102,-0.103,-0.104,-0.105,-0.106
+0.300,1.747,1.332,0.779,0.778,0.777,0.776,0.775,0.774,0.720,0.640,0.580
+0.400,2.650,2.480,2.300,2.130,1.950,1.750,1.580,1.450,1.320,1.200,1.100
+0.500,3.300,3.250,3.120,2.920,2.680,2.350,2.170,1.980,1.880,1.730,1.610
diff --git a/simulator/carla_autoware/calibration_maps/brake_map.csv b/simulator/carla_autoware/calibration_maps/brake_map.csv
new file mode 100644
index 0000000000000..62b18b45bd415
--- /dev/null
+++ b/simulator/carla_autoware/calibration_maps/brake_map.csv
@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.090,-0.204,-0.490,-0.490,-0.491,-0.492,-0.493,-0.494,-0.495,-0.496,-0.500
+0.100,0.089,-0.226,-0.535,-0.536,-0.537,-0.538,-0.539,-0.540,-0.541,-0.542,-0.543
+0.200,-0.380,-0.414,-0.746,-0.800,-0.820,-0.850,-0.870,-0.890,-0.910,-0.940,-0.960
+0.300,-1.000,-1.040,-1.480,-1.550,-1.570,-1.590,-1.610,-1.630,-1.631,-1.632,-1.633
+0.400,-1.480,-1.500,-1.850,-2.050,-2.100,-2.101,-2.102,-2.103,-2.104,-2.105,-2.106
+0.500,-1.490,-1.510,-1.860,-2.060,-2.110,-2.111,-2.112,-2.113,-2.114,-2.115,-2.116
+0.600,-1.500,-1.520,-1.870,-2.070,-2.120,-2.121,-2.122,-2.123,-2.124,-2.125,-2.126
+0.700,-1.510,-1.530,-1.880,-2.080,-2.130,-2.131,-2.132,-2.133,-2.134,-2.135,-2.136
+0.800,-2.180,-2.200,-2.700,-2.800,-2.900,-2.950,-2.951,-2.952,-2.953,-2.954,-2.955
diff --git a/simulator/carla_autoware/calibration_maps/steer_map.csv b/simulator/carla_autoware/calibration_maps/steer_map.csv
new file mode 100644
index 0000000000000..077efb9f9e200
--- /dev/null
+++ b/simulator/carla_autoware/calibration_maps/steer_map.csv
@@ -0,0 +1,4 @@
+default,-10,0,10
+-1,-0.9,-0.9,-0.9
+0,0,0,0
+1,0.9,0.9,0.9
diff --git a/simulator/carla_autoware/config/raw_vehicle_cmd_converter.param.yaml b/simulator/carla_autoware/config/raw_vehicle_cmd_converter.param.yaml
new file mode 100644
index 0000000000000..6d20cf0e79c3c
--- /dev/null
+++ b/simulator/carla_autoware/config/raw_vehicle_cmd_converter.param.yaml
@@ -0,0 +1,28 @@
+/**:
+ ros__parameters:
+ csv_path_accel_map: $(find-pkg-share carla_autoware)/accel_map.csv
+ csv_path_brake_map: $(find-pkg-share carla_autoware)/brake_map.csv
+ csv_path_steer_map: $(find-pkg-share carla_autoware)/steer_map.csv
+ convert_accel_cmd: true
+ convert_brake_cmd: true
+ convert_steer_cmd: true
+ use_steer_ff: true
+ use_steer_fb: true
+ is_debugging: false
+ max_throttle: 0.4
+ max_brake: 0.8
+ max_steer: 1.0
+ min_steer: -1.0
+ steer_pid:
+ kp: 150.0
+ ki: 15.0
+ kd: 0.0
+ max: 8.0
+ min: -8.0
+ max_p: 8.0
+ min_p: -8.0
+ max_i: 8.0
+ min_i: -8.0
+ max_d: 0.0
+ min_d: 0.0
+ invalid_integration_decay: 0.97
diff --git a/simulator/carla_autoware/launch/carla_autoware.launch.xml b/simulator/carla_autoware/launch/carla_autoware.launch.xml
index f58c5d6f70d6d..e24014640a411 100644
--- a/simulator/carla_autoware/launch/carla_autoware.launch.xml
+++ b/simulator/carla_autoware/launch/carla_autoware.launch.xml
@@ -29,7 +29,6 @@
-