diff --git a/Assets/Scripts/Bridge/Data/VehicleControlData.cs b/Assets/Scripts/Bridge/Data/VehicleControlData.cs
index ca53f6d33..402a88e2c 100644
--- a/Assets/Scripts/Bridge/Data/VehicleControlData.cs
+++ b/Assets/Scripts/Bridge/Data/VehicleControlData.cs
@@ -30,6 +30,7 @@ public class VehicleControlData
         public float? SteerAngle;
         public bool ShiftGearUp;
         public bool ShiftGearDown;
+        public int? Indicator;
 
         // apollo 
         public float? SteerRate;
diff --git a/Assets/Scripts/Bridge/Ros/Messages/Autoware.cs b/Assets/Scripts/Bridge/Ros/Messages/Autoware.cs
index ccb5b1832..5ff3dce42 100644
--- a/Assets/Scripts/Bridge/Ros/Messages/Autoware.cs
+++ b/Assets/Scripts/Bridge/Ros/Messages/Autoware.cs
@@ -5,7 +5,7 @@
  *
  */
 
-#pragma warning disable 0649
+#pragma warning disable 0649
 
 using System.Collections.Generic;
 
@@ -56,7 +56,7 @@ public class VehicleCmd
         public steer_cmd _steer_cmd;
         public accel_cmd _accel_cmd;
         public brake_cmd _brake_cmd;
-        public lamp_cmd _lamp_cmd;
+        public lamp_cmd lamp_cmd;
         public uint gear;
         public uint mode;
         public TwistStamped twist_cmd;
@@ -82,7 +82,7 @@ public class DetectedObject
         public Twist acceleration;
 
         public PointCloud2 pointcloud;
-        
+
         // public PolygonStamped convex_hull;
         // public LaneArray candidate_trajectories;
 
diff --git a/Assets/Scripts/Bridge/Ros/RosConversions.cs b/Assets/Scripts/Bridge/Ros/RosConversions.cs
index c2f31a408..e5eef1c70 100644
--- a/Assets/Scripts/Bridge/Ros/RosConversions.cs
+++ b/Assets/Scripts/Bridge/Ros/RosConversions.cs
@@ -440,7 +440,7 @@ public static Odometry ConvertFrom(GpsOdometryData data)
                         {
                             x = 0.0,
                             y = 0.0,
-                            z = - data.AngularVelocity.y,
+                            z = -data.AngularVelocity.y,
                         }
                     },
                 }
@@ -534,6 +534,15 @@ public static VehicleControlData ConvertTo(Autoware.VehicleCmd data)
                     shiftDown = true;
             }
 
+
+            int indicator = 0;
+            if (data.lamp_cmd != null)
+            {
+                var lbrink = 0 < data.lamp_cmd.l ? 1 : 0;
+                var rbrink = 0 < data.lamp_cmd.r ? 1 : 0;
+                indicator = ((rbrink & 0x01) << 1) | (lbrink & 0x01);
+            }
+
             return new VehicleControlData()
             {
                 TimeStampSec = ConvertTime(data.header.stamp),
@@ -544,6 +553,7 @@ public static VehicleControlData ConvertTo(Autoware.VehicleCmd data)
                 SteerAngle = (float)data.ctrl_cmd.steering_angle,
                 ShiftGearUp = shiftUp,
                 ShiftGearDown = shiftDown,
+                Indicator = indicator
             };
         }
 
@@ -568,7 +578,7 @@ public static VehicleControlData ConvertTo(Lgsvl.VehicleControlDataRos data)
                 wheelAngle = -MaxSteeringAngle;
 
             // ratio between -MaxSteeringAngle and MaxSteeringAngle
-            var k = (float)(wheelAngle + MaxSteeringAngle) / (MaxSteeringAngle*2);
+            var k = (float)(wheelAngle + MaxSteeringAngle) / (MaxSteeringAngle * 2);
 
             // target_wheel_angular_rate, target_gear are not supported on simulator side.
             return new VehicleControlData()
@@ -619,11 +629,11 @@ public static Imu ConvertFrom(ImuData data)
                 },
 
                 orientation = Convert(data.Orientation),
-                orientation_covariance = new double[9]{0.0001, 0, 0, 0, 0.0001, 0, 0, 0, 0.0001},
+                orientation_covariance = new double[9] { 0.0001, 0, 0, 0, 0.0001, 0, 0, 0, 0.0001 },
                 angular_velocity = ConvertToVector(data.AngularVelocity),
-                angular_velocity_covariance = new double[9]{0.0001, 0, 0, 0, 0.0001, 0, 0, 0, 0.0001},
+                angular_velocity_covariance = new double[9] { 0.0001, 0, 0, 0, 0.0001, 0, 0, 0, 0.0001 },
                 linear_acceleration = ConvertToVector(data.Acceleration),
-                linear_acceleration_covariance = new double[9]{0.0001, 0, 0, 0, 0.0001, 0, 0, 0, 0.0001},
+                linear_acceleration_covariance = new double[9] { 0.0001, 0, 0, 0, 0.0001, 0, 0, 0, 0.0001 },
             };
         }
 
diff --git a/Assets/Scripts/Controllers/VehicleController.cs b/Assets/Scripts/Controllers/VehicleController.cs
index 70ad89b0e..885db1cce 100644
--- a/Assets/Scripts/Controllers/VehicleController.cs
+++ b/Assets/Scripts/Controllers/VehicleController.cs
@@ -84,13 +84,34 @@ private void UpdateInput()
         if (sticky) return;
 
         SteerInput = AccelInput = BrakeInput = 0f;
-        
+
         // get all inputs
         foreach (var input in inputs)
         {
             SteerInput += input.SteerInput;
             AccelInput += input.AccelInput;
             BrakeInput += input.BrakeInput;
+
+            var vcs = input as Simulator.Sensors.VehicleControlSensor;
+            if (vcs != null)
+            {
+                var hazard = vcs.Indicator == 3;
+                var rightTurn = vcs.Indicator == 2;
+                var leftTurn = vcs.Indicator == 1;
+                if (actions.HazardLights != hazard)
+                {
+                    actions.HazardLights = hazard;
+                }
+                else if (actions.LeftTurnSignal != leftTurn)
+                {
+                    actions.LeftTurnSignal = leftTurn;
+                }
+                else if (actions.RightTurnSignal != rightTurn)
+                {
+                    actions.RightTurnSignal = rightTurn;
+                }
+            }
+
         }
 
         // clamp if over
@@ -102,7 +123,7 @@ private void UpdateInput()
     private void UpdateInputAPI()
     {
         if (!sticky) return;
-        
+
         SteerInput = stickySteering;
         AccelInput = stickAcceleraton;
     }
@@ -125,7 +146,7 @@ private void UpdateLights()
             {
                 if (SteerInput > -turnSignalOffThreshold)
                     actions.LeftTurnSignal = resetTurnIndicator = false;
-                
+
             }
             else
             {
diff --git a/Assets/Scripts/Sensors/VehicleControlSensor.cs b/Assets/Scripts/Sensors/VehicleControlSensor.cs
index d39d735aa..86d230b02 100644
--- a/Assets/Scripts/Sensors/VehicleControlSensor.cs
+++ b/Assets/Scripts/Sensors/VehicleControlSensor.cs
@@ -30,6 +30,8 @@ public class VehicleControlSensor : SensorBase, IVehicleInputs
         public float AccelInput { get; private set; } = 0f;
         public float BrakeInput { get; private set; } = 0f;
 
+        public int Indicator { get; private set; } = 0;
+
         float ADAccelInput = 0f;
         float ADSteerInput = 0f;
 
@@ -107,6 +109,11 @@ public override void OnBridgeSetup(IBridge bridge)
                         ADAccelInput = ActualLinVel < data.Velocity.GetValueOrDefault() ? linMag : -linMag;
                         ADSteerInput = -Mathf.Clamp(data.SteerAngularVelocity.GetValueOrDefault() * 0.5f, -1f, 1f);
                     }
+
+                    if (data.Indicator.HasValue)
+                    {
+                        Indicator = data.Indicator.Value;
+                    }
                 }
                 else if (data.SteerRate.HasValue) // apollo
                 {
@@ -130,7 +137,7 @@ public override void OnBridgeSetup(IBridge bridge)
                     var sgn = Mathf.Sign(steeringTarget - steeringAngle);
                     var steeringRate = data.SteerRate.GetValueOrDefault() * sgn;
                     steeringAngle += steeringRate * dt;
-                    
+
                     if (sgn != steeringTarget - steeringAngle) // to prevent oversteering
                         steeringAngle = steeringTarget;