  Automated driving systems are an integral part of the automotive industry.
Tools such as Robot Operating System and simulators support their development.
However, in the end, the developers must test their algorithms on a real
vehicle. To better observe the difference between reality and simulation--the
reality gap--digital twin technology offers real-time communication between the
real vehicle and its model. We present low fidelity digital twin generator and
describe situations where automatic generation is preferable to high fidelity
simulation. We validated our approach of generating a virtual environment with
a vehicle model by replaying the data recorded from the real vehicle.
