Universal_Robots_ROS_Driver VS carla

They have a section for developer about ROS UR ROS

This is the Ros driver for ur-e series robot. You can simply follow the readme to setup a simulation involving a rviz model and some.basic planning and associated visualisation.

That’s not windows. It uses ROS

Oh no, really? I'm following the directions of this GitHub page which includes features such as "Realtime-enabled communication structure to robustly cope with the 2ms cycle time of the e-Series. " and then says, "To make sure that robot control isn't affected by system latencies, it is highly recommended to use a real-time kernel with the system."

It sounds like you're looking for something like the CARLA simulator.

If you are looking for a different simulator, I would suggest using (Carla)[https://carla.org/] with ROS bridge and it also has an inbuilt support for OSM which worked flawlessly (you have to install it from source to get the OSM plugin).

(3) I would suggest you use CARLA or TORCS for self-driving cars in RL as they are common test beds.

carla env

Link to carla

There are a few ways you could go with this. A fun recent trend has been to make simulators in the unreal engine for photorealistic training. If you wanted to spend your whole project on the simulator part you could make your own environment, but I highly recommend using an open-source sim package. If you don't care too much about photorealism, you could use gazebo just fine. I've also made small visual worlds in blender, then simulated with RVIZ. Here's a good one with a focus on aerial robotics: https://theairlab.org/tartanair-dataset/ You could also give CARLA a spin for autonomous vehicles: https://carla.org/