docs: add the carla simulator page under digital twin

docs/tutorials/ad-hoc-simulation/digital-twin-simulation/.pages

@@ -1,3 +1,4 @@
 nav:
   - awsim-tutorial.md
   - MORAI_Sim-tutorial.md
+  - carla-tutorial.md

docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md

@@ -0,0 +1,33 @@
+# CARLA simulator
+
+[CARLA](https://carla.org) is a famous open-source simulator for the autonomous driving research.
+Now there is no official support to Autoware.universe, but some projects from communities support it.
+The document is to list these projects for anyone who wants to run Autoware with Carla.
+You can report issues to each project if there is any problem.
+
+## Project lists (In alphabetical order)
+
+### carla_autoware_bridge
+
+An addition package to `carla_ros_bridge` to connect CARLA simulator to Autoware Universe software.
+
+- Project Link: [carla_autoware_bridge](https://github.com/Robotics010/carla_autoware_bridge)
+- Tutorial: [https://github.com/Robotics010/carla_autoware_bridge/blob/master/getting-started.md](https://github.com/Robotics010/carla_autoware_bridge/blob/master/getting-started.md)
+
+### open_planner
+
+Integrated open source planner and related tools for autonomous navigation of autonomous vehicle and mobile robots
+
+- Project Link: [open_planner](https://github.com/ZATiTech/open_planner/tree/humble)
+- Tutorial: [https://github.com/ZATiTech/open_planner/blob/humble/op_carla_bridge/README.md](https://github.com/ZATiTech/open_planner/blob/humble/op_carla_bridge/README.md)
+
+### zenoh_carla_bridge
+
+The project is mainly for controlling multiple vehicles in Carla.
+It uses [Zenoh](https://zenoh.io/) to bridge the Autoware and Carla and is able to distinguish different messages for different vehicles.
+Feel free to ask questions and report issues to [autoware_carla_launch](https://github.com/evshary/autoware_carla_launch).
+
+- Project Link:
+  - [autoware_carla_launch](https://github.com/evshary/autoware_carla_launch): Integrated environment to run the bridge and Autoware easily.
+  - [zenoh_carla_bridge](https://github.com/evshary/zenoh_carla_bridge): The bridge implementation.
+- Tutorial: [Running Multiple Autoware-Powered Vehicles in Carla using Zenoh](https://autoware.org/running-multiple-autoware-powered-vehicles-in-carla-using-zenoh)