diff --git a/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.cpp b/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.cpp
index 8c065f40f..4f15fb4c9 100644
--- a/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.cpp
+++ b/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.cpp
@@ -2,7 +2,7 @@
 
 namespace tmx::utils::sim
 {
-    string SimulationExternalObjectConverter::simExternalObjToJsonStr(simulation::ExternalObject &simExternalObj)
+    std::string SimulationExternalObjectConverter::simExternalObjToJsonStr(tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         Json::Value root;
         Json::Value metadata;
@@ -23,7 +23,7 @@ namespace tmx::utils::sim
         root["header"] = header;
 
         root["id"] = simExternalObj.get_Id();
-        if (simExternalObj.get_PresenceVector() != simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE)
+        if (simExternalObj.get_PresenceVector() != tmx::messages::simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE)
         {
             root["presence_vector"] = simExternalObj.get_PresenceVector();
         }
@@ -37,10 +37,8 @@ namespace tmx::utils::sim
         pose["pose"]["orientation"]["z"] = simExternalObj.get_PosePoseOrientationZ();
         pose["pose"]["orientation"]["w"] = simExternalObj.get_PosePoseOrientationW();
         auto pCovarianceV = simExternalObj.get_PoseCovariance();
-        for (auto itr = pCovarianceV.begin(); itr != pCovarianceV.end(); itr++)
-        {
-            pose["covariance"].append(Json::Value(itr->covariance));
-        }
+        std::for_each(pCovarianceV.begin(), pCovarianceV.end(), [&pose](const auto &item)
+                      { pose["covariance"].append(Json::Value(item.covariance)); });
         root["pose"] = pose;
 
         Json::Value velocity;
@@ -51,10 +49,8 @@ namespace tmx::utils::sim
         velocity["twist"]["angular"]["y"] = simExternalObj.get_VelocityTwistAngularY();
         velocity["twist"]["angular"]["z"] = simExternalObj.get_VelocityTwistAngularZ();
         auto vCovarianceV = simExternalObj.get_VelocityCovariance();
-        for (auto itr = vCovarianceV.begin(); itr != vCovarianceV.end(); itr++)
-        {
-            velocity["covariance"].append(Json::Value(itr->covariance));
-        }
+        std::for_each(vCovarianceV.begin(), vCovarianceV.end(), [&velocity](const auto &item)
+                      { velocity["covariance"].append(Json::Value(item.covariance)); });
         root["velocity"] = velocity;
 
         Json::Value size;
@@ -64,14 +60,14 @@ namespace tmx::utils::sim
         root["size"] = size;
 
         root["confidence"] = simExternalObj.get_Confidence();
-        root["object_type"] = to_string(simExternalObj.get_ObjectType());
+        root["object_type"] = std::to_string(simExternalObj.get_ObjectType());
         root["dynamic_obj"] = simExternalObj.get_DynamticObj();
         Json::StreamWriterBuilder builder;
         const std::string json_str = Json::writeString(builder, root);
         return json_str;
     }
 
-    void SimulationExternalObjectConverter::jsonToSimExternalObj(const string &jsonStr, simulation::ExternalObject &simExternalObj)
+    void SimulationExternalObjectConverter::jsonToSimExternalObj(const std::string &jsonStr, tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         Json::CharReaderBuilder builder;
         const std::unique_ptr<Json::CharReader> reader(builder.newCharReader());
@@ -79,7 +75,7 @@ namespace tmx::utils::sim
         JSONCPP_STRING err;
         if (!reader->parse(jsonStr.c_str(), jsonStr.c_str() + static_cast<int>(jsonStr.length()), &root, &err))
         {
-            throw runtime_error("Error parsing external object JSON string.");
+            throw std::runtime_error("Error parsing external object JSON string.");
         }
 
         /**
@@ -154,7 +150,7 @@ namespace tmx::utils::sim
         }
     }
 
-    void SimulationExternalObjectConverter::populateSimExternalObjectMetadata(const Json::Value &metadataValue, simulation::ExternalObject &simExternalObj)
+    void SimulationExternalObjectConverter::populateSimExternalObjectMetadata(const Json::Value &metadataValue, tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         if (metadataValue.isMember("is_simulation") && metadataValue["is_simulation"].isBool())
         {
@@ -197,7 +193,7 @@ namespace tmx::utils::sim
         }
     }
 
-    void SimulationExternalObjectConverter::populateSimExternalObjectHeader(const Json::Value &headerValue, simulation::ExternalObject &simExternalObj)
+    void SimulationExternalObjectConverter::populateSimExternalObjectHeader(const Json::Value &headerValue, tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         if (headerValue.isMember("seq") && headerValue["seq"].isUInt())
         {
@@ -215,7 +211,7 @@ namespace tmx::utils::sim
         }
     }
 
-    void SimulationExternalObjectConverter::populateSimExternalObjectPose(const Json::Value &poseValue, simulation::ExternalObject &simExternalObj)
+    void SimulationExternalObjectConverter::populateSimExternalObjectPose(const Json::Value &poseValue, tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         if (poseValue.isMember("pose") && poseValue["pose"].isMember("position") && poseValue["pose"]["position"].isObject())
         {
@@ -258,13 +254,13 @@ namespace tmx::utils::sim
         if (poseValue.isMember("covariance") && poseValue["covariance"].isArray())
         {
             Json::Value covarianceArrayValue = poseValue["covariance"];
-            std::vector<simulation::Covariance> covarianceV;
+            std::vector<tmx::messages::simulation::Covariance> covarianceV;
             populateSimCovarianceArray(covarianceArrayValue, covarianceV);
             simExternalObj.set_PoseCovariance(covarianceV);
         }
     }
 
-    void SimulationExternalObjectConverter::populateSimExternalObjectVelocity(const Json::Value &velocityValue, simulation::ExternalObject &simExternalObj)
+    void SimulationExternalObjectConverter::populateSimExternalObjectVelocity(const Json::Value &velocityValue, tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         if (velocityValue.isMember("twist") && velocityValue["twist"].isMember("linear") && velocityValue["twist"]["linear"].isObject())
         {
@@ -306,13 +302,13 @@ namespace tmx::utils::sim
         if (velocityValue.isMember("covariance") && velocityValue["covariance"].isArray())
         {
             Json::Value covarianceArrayValue = velocityValue["covariance"];
-            std::vector<simulation::Covariance> covarianceV;
+            std::vector<tmx::messages::simulation::Covariance> covarianceV;
             populateSimCovarianceArray(covarianceArrayValue, covarianceV);
             simExternalObj.set_VelocityCovariance(covarianceV);
         }
     }
 
-    void SimulationExternalObjectConverter::populateSimExternalObjectSize(const Json::Value &sizeValue, simulation::ExternalObject &simExternalObj)
+    void SimulationExternalObjectConverter::populateSimExternalObjectSize(const Json::Value &sizeValue, tmx::messages::simulation::ExternalObject &simExternalObj)
     {
         if (sizeValue.isMember("x"))
         {
@@ -328,80 +324,96 @@ namespace tmx::utils::sim
         }
     }
 
-    void SimulationExternalObjectConverter::populateSimCovarianceArray(const Json::Value &covarianceArrayValue, std::vector<simulation::Covariance> &covarianceV)
+    void SimulationExternalObjectConverter::populateSimCovarianceArray(const Json::Value &covarianceArrayValue, std::vector<tmx::messages::simulation::Covariance> &covarianceV)
     {
-        for (auto itr = covarianceArrayValue.begin(); itr != covarianceArrayValue.end(); itr++)
-        {
-            simulation::Covariance covariance(itr->asDouble());
-            covarianceV.push_back(covariance);
-        }
+        std::for_each(covarianceArrayValue.begin(), covarianceArrayValue.end(), [&covarianceV](const auto &item)
+                      { tmx::messages::simulation::Covariance covariance(item.asDouble()); 
+                      covarianceV.push_back(covariance); });
     }
 
-    simulation::OBJECT_TYPES SimulationExternalObjectConverter::objectTypeStringToEnum(const string &object_type_str)
+    tmx::messages::simulation::OBJECT_TYPES SimulationExternalObjectConverter::objectTypeStringToEnum(const std::string &object_type_str)
     {
-        simulation::OBJECT_TYPES object_type = simulation::OBJECT_TYPES::UNKNOWN;
+        tmx::messages::simulation::OBJECT_TYPES object_type = tmx::messages::simulation::OBJECT_TYPES::UNKNOWN;
         try
         {
             int object_type_int = stoi(object_type_str);
             switch (object_type_int)
             {
-            case simulation::OBJECT_TYPES::LARGE_VEHICLE:
-                object_type = simulation::OBJECT_TYPES::LARGE_VEHICLE;
+            case tmx::messages::simulation::OBJECT_TYPES::LARGE_VEHICLE:
+                object_type = tmx::messages::simulation::OBJECT_TYPES::LARGE_VEHICLE;
                 break;
-            case simulation::OBJECT_TYPES::MOTORCYCLE:
-                object_type = simulation::OBJECT_TYPES::MOTORCYCLE;
+
+            case tmx::messages::simulation::OBJECT_TYPES::MOTORCYCLE:
+                object_type = tmx::messages::simulation::OBJECT_TYPES::MOTORCYCLE;
                 break;
-            case simulation::OBJECT_TYPES::PEDESTRIAN:
-                object_type = simulation::OBJECT_TYPES::PEDESTRIAN;
-            case simulation::OBJECT_TYPES::SMALL_VEHICLE:
-                object_type = simulation::OBJECT_TYPES::SMALL_VEHICLE;
+
+            case tmx::messages::simulation::OBJECT_TYPES::PEDESTRIAN:
+                object_type = tmx::messages::simulation::OBJECT_TYPES::PEDESTRIAN;
                 break;
+
+            case tmx::messages::simulation::OBJECT_TYPES::SMALL_VEHICLE:
+                object_type = tmx::messages::simulation::OBJECT_TYPES::SMALL_VEHICLE;
+                break;
+
             default:
-                object_type = simulation::OBJECT_TYPES::UNKNOWN;
+                object_type = tmx::messages::simulation::OBJECT_TYPES::UNKNOWN;
                 break;
             }
         }
-        catch (exception &err)
+        catch (std::exception &err)
         {
-            object_type = simulation::OBJECT_TYPES::UNKNOWN;
+            object_type = tmx::messages::simulation::OBJECT_TYPES::UNKNOWN;
         }
         return object_type;
     }
 
-    simulation::PRESENCE_VECTOR_TYPES SimulationExternalObjectConverter::presenceVectorIntToEnum(uint16_t presence_vector)
+    tmx::messages::simulation::PRESENCE_VECTOR_TYPES SimulationExternalObjectConverter::presenceVectorIntToEnum(uint16_t presence_vector)
     {
-        simulation::PRESENCE_VECTOR_TYPES presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE;
+        tmx::messages::simulation::PRESENCE_VECTOR_TYPES presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE;
         switch (presence_vector)
         {
-        case simulation::PRESENCE_VECTOR_TYPES::BSM_ID_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::BSM_ID_PRESENCE_VECTOR;
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::BSM_ID_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::BSM_ID_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::CONFIDENCE_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::CONFIDENCE_PRESENCE_VECTOR;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::CONFIDENCE_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::CONFIDENCE_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::DYNAMIC_OBJ_PRESENCE:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::DYNAMIC_OBJ_PRESENCE;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::DYNAMIC_OBJ_PRESENCE:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::DYNAMIC_OBJ_PRESENCE;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR;
+            break;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::POSE_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::POSE_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::POSE_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::POSE_PRESENCE_VECTOR;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::PREDICTION_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::PREDICTION_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::PREDICTION_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::PREDICTION_PRESENCE_VECTOR;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::SIZE_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::SIZE_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::SIZE_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::SIZE_PRESENCE_VECTOR;
+            
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::VELOCITY_INST_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::VELOCITY_INST_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::VELOCITY_INST_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::VELOCITY_INST_PRESENCE_VECTOR;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::VELOCITY_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::VELOCITY_PRESENCE_VECTOR;
             break;
-        case simulation::PRESENCE_VECTOR_TYPES::VELOCITY_PRESENCE_VECTOR:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::VELOCITY_PRESENCE_VECTOR;
+
+        case tmx::messages::simulation::PRESENCE_VECTOR_TYPES::ID_PRESENCE_VECTOR:
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::ID_PRESENCE_VECTOR;
             break;
+
         default:
-            presence_vector_enum = simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE;
+            presence_vector_enum = tmx::messages::simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE;
             break;
         }
         return presence_vector_enum;
diff --git a/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.h b/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.h
index f4bfc74a1..f1357b10d 100644
--- a/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.h
+++ b/src/tmx/TmxUtils/src/simulation/SimulationExternalObjectConverter.h
@@ -4,27 +4,25 @@
 #include <iostream>
 #include <simulation/ExternalObject.h>
 
-using namespace tmx::messages;
-using namespace std;
 namespace tmx::utils::sim
 {
 
     class SimulationExternalObjectConverter
     {
     private:
-        static void populateSimExternalObjectMetadata(const Json::Value &metadataValue, simulation::ExternalObject &simExternalObj);
-        static void populateSimExternalObjectHeader(const Json::Value &headerValue, simulation::ExternalObject &simExternalObj);
-        static void populateSimExternalObjectPose(const Json::Value &poseValue, simulation::ExternalObject &simExternalObj);
-        static void populateSimExternalObjectVelocity(const Json::Value &velocityValue, simulation::ExternalObject &simExternalObj);
-        static void populateSimExternalObjectSize(const Json::Value &sizeValue, simulation::ExternalObject &simExternalObj);
-        static void populateSimCovarianceArray(const  Json::Value &covarianceArrayValue, std::vector<simulation::Covariance> &covarianceV);
-        static simulation::OBJECT_TYPES objectTypeStringToEnum(const string& object_type_str);
-        static simulation::PRESENCE_VECTOR_TYPES presenceVectorIntToEnum(uint16_t presence_vector);
+        static void populateSimExternalObjectMetadata(const Json::Value &metadataValue, tmx::messages::simulation::ExternalObject &simExternalObj);
+        static void populateSimExternalObjectHeader(const Json::Value &headerValue, tmx::messages::simulation::ExternalObject &simExternalObj);
+        static void populateSimExternalObjectPose(const Json::Value &poseValue, tmx::messages::simulation::ExternalObject &simExternalObj);
+        static void populateSimExternalObjectVelocity(const Json::Value &velocityValue, tmx::messages::simulation::ExternalObject &simExternalObj);
+        static void populateSimExternalObjectSize(const Json::Value &sizeValue, tmx::messages::simulation::ExternalObject &simExternalObj);
+        static void populateSimCovarianceArray(const  Json::Value &covarianceArrayValue, std::vector<tmx::messages::simulation::Covariance> &covarianceV);
+        static tmx::messages::simulation::OBJECT_TYPES objectTypeStringToEnum(const std::string& object_type_str);
+        static tmx::messages::simulation::PRESENCE_VECTOR_TYPES presenceVectorIntToEnum(uint16_t presence_vector);
 
     public:
         SimulationExternalObjectConverter() = default;
         ~SimulationExternalObjectConverter() = default;
-        static string simExternalObjToJsonStr(simulation::ExternalObject &simExternalObj);
-        static void jsonToSimExternalObj(const string &jsonStr, simulation::ExternalObject &simExternalObj);
+        static std::string simExternalObjToJsonStr(tmx::messages::simulation::ExternalObject &simExternalObj);
+        static void jsonToSimExternalObj(const std::string &jsonStr, tmx::messages::simulation::ExternalObject &simExternalObj);
     };
 }
diff --git a/src/tmx/TmxUtils/test/test_simulation_external_object_converter.cpp b/src/tmx/TmxUtils/test/test_simulation_external_object_converter.cpp
index 73be4b5f9..1a9bf6587 100644
--- a/src/tmx/TmxUtils/test/test_simulation_external_object_converter.cpp
+++ b/src/tmx/TmxUtils/test/test_simulation_external_object_converter.cpp
@@ -5,12 +5,18 @@
 using namespace tmx::utils::sim;
 using namespace tmx::messages;
 
-TEST(SimulationExternalObjectConverter, jsonToSimExternalObj)
+TEST(SimulationExternalObjectConverter, jsonToSimExternalObjInvalidJson)
 {
-    SimulationExternalObjectConverter converter;
     simulation::ExternalObject simExternalObj;
-    std::string json_string = "{\"metadata\":{\"is_simulation\":false,\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":0.0,\"sensor_y\":0.0,\"sensor_z\":0.0,\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0}},\"id\":0,\"pose\":{\"pose\":{\"position\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"orientation\":{\"x\":0.0,\"y\":0.0,\"z\":0.0,\"w\":0.0}},\"covariance\":[12.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"velocity\":{\"twist\":{\"linear\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"angular\":{\"x\":0.0,\"y\":0.0,\"z\":0.0}},\"covariance\":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"size\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"confidence\":0.0,\"object_type\":\"\",\"dynamic_obj\":false}";
-    converter.jsonToSimExternalObj(json_string, simExternalObj);
+    std::string invalidJsonStr = "Invalid";
+    ASSERT_THROW(SimulationExternalObjectConverter::jsonToSimExternalObj(invalidJsonStr, simExternalObj), std::runtime_error);
+}
+
+TEST(SimulationExternalObjectConverter, jsonToSimExternalObjValidJson)
+{
+    simulation::ExternalObject simExternalObj;
+    std::string jsonStr = "{\"metadata\":{\"is_simulation\":false,\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":0.0,\"sensor_y\":0.0,\"sensor_z\":0.0,\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0}},\"id\":0,\"pose\":{\"pose\":{\"position\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"orientation\":{\"x\":0.0,\"y\":0.0,\"z\":0.0,\"w\":0.0}},\"covariance\":[12.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"velocity\":{\"twist\":{\"linear\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"angular\":{\"x\":0.0,\"y\":0.0,\"z\":0.0}},\"covariance\":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"size\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"confidence\":0.0,\"object_type\":\"\",\"dynamic_obj\":false}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
     ASSERT_EQ(0, simExternalObj.get_Id());
     ASSERT_EQ(false, simExternalObj.get_MetadataIsSimulation());
     ASSERT_EQ("", simExternalObj.get_MetadataDatum());
@@ -30,13 +36,96 @@ TEST(SimulationExternalObjectConverter, jsonToSimExternalObj)
     ASSERT_EQ(36, simExternalObj.get_VelocityCovariance().size());
 }
 
+TEST(SimulationExternalObjectConverter, jsonToSimExternalObjPresenceVector)
+{
+    simulation::ExternalObject simExternalObj;
+    ASSERT_TRUE(simExternalObj.is_empty());
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE, simExternalObj.get_PresenceVector());
+    ASSERT_FALSE(simExternalObj.is_empty());
+
+    std::string jsonStr = "{\"presence_vector\":1}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::ID_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":2}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::POSE_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":4}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::VELOCITY_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":8}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::VELOCITY_INST_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":16}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::SIZE_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":32}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::CONFIDENCE_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":64}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":128}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::BSM_ID_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":256}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::DYNAMIC_OBJ_PRESENCE, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":512}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::PREDICTION_PRESENCE_VECTOR, simExternalObj.get_PresenceVector());
+
+    jsonStr = "{\"presence_vector\":212121}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::PRESENCE_VECTOR_TYPES::UNAVAILABLE, simExternalObj.get_PresenceVector());
+}
+
+TEST(SimulationExternalObjectConverter, jsonToSimExternalObjObjectTypes)
+{
+    simulation::ExternalObject simExternalObj;
+    ASSERT_TRUE(simExternalObj.is_empty());
+    ASSERT_EQ(simulation::OBJECT_TYPES::UNKNOWN, simExternalObj.get_ObjectType());
+    ASSERT_FALSE(simExternalObj.is_empty());
+
+    std::string jsonStr = "{\"object_type\":\"1\"}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::OBJECT_TYPES::SMALL_VEHICLE, simExternalObj.get_ObjectType());
+
+    jsonStr = "{\"object_type\":\"2\"}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::OBJECT_TYPES::LARGE_VEHICLE, simExternalObj.get_ObjectType());
+
+    jsonStr = "{\"object_type\":\"3\"}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::OBJECT_TYPES::MOTORCYCLE, simExternalObj.get_ObjectType());
+
+    jsonStr = "{\"object_type\":\"5\"}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::OBJECT_TYPES::UNKNOWN, simExternalObj.get_ObjectType());
+
+    jsonStr = "{\"object_type\":\"4\"}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::OBJECT_TYPES::PEDESTRIAN, simExternalObj.get_ObjectType());
+
+    jsonStr = "{\"object_type\":\"invalid\"}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    ASSERT_EQ(simulation::OBJECT_TYPES::UNKNOWN, simExternalObj.get_ObjectType());
+}
+
 TEST(SimulationExternalObjectConverter, simExternalObjToJsonStr)
 {
-    SimulationExternalObjectConverter converter;
     simulation::ExternalObject simExternalObj;
-    std::string json_string = "{\"metadata\":{\"is_simulation\":false,\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":0.0,\"sensor_y\":0.0,\"sensor_z\":0.0,\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0}},\"id\":0,\"pose\":{\"pose\":{\"position\":{\"x\":34.0,\"y\":0.0,\"z\":0.0},\"orientation\":{\"x\":23.0,\"y\":0.0,\"z\":0.0,\"w\":0.0}},\"covariance\":[12.1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,11.0]},\"velocity\":{\"twist\":{\"linear\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"angular\":{\"x\":0.0,\"y\":0.0,\"z\":0.0}},\"covariance\":[12.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"size\":{\"x\":12.0,\"y\":23.0,\"z\":12.0},\"confidence\":1.0,\"object_type\":\"128\",\"dynamic_obj\":false}";
-    converter.jsonToSimExternalObj(json_string, simExternalObj);
-    std::string output = converter.simExternalObjToJsonStr(simExternalObj);
+    std::string jsonStr = "{\"metadata\":{\"is_simulation\":false,\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":0.0,\"sensor_y\":0.0,\"sensor_z\":0.0,\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0}},\"id\":0,\"pose\":{\"pose\":{\"position\":{\"x\":34.0,\"y\":0.0,\"z\":0.0},\"orientation\":{\"x\":23.0,\"y\":0.0,\"z\":0.0,\"w\":0.0}},\"covariance\":[12.1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,11.0]},\"velocity\":{\"twist\":{\"linear\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"angular\":{\"x\":0.0,\"y\":0.0,\"z\":0.0}},\"covariance\":[12.0,17.33333333,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,20.3333]},\"size\":{\"x\":12.0,\"y\":23.0,\"z\":12.0},\"confidence\":1.0,\"object_type\":\"128\",\"dynamic_obj\":false}";
+    SimulationExternalObjectConverter::jsonToSimExternalObj(jsonStr, simExternalObj);
+    std::string output = SimulationExternalObjectConverter::simExternalObjToJsonStr(simExternalObj);
     Json::CharReaderBuilder builder;
     const std::unique_ptr<Json::CharReader> reader(builder.newCharReader());
     Json::Value root;
@@ -45,4 +134,6 @@ TEST(SimulationExternalObjectConverter, simExternalObjToJsonStr)
     ASSERT_FALSE(root["metadata"]["is_simulation"].asBool());
     ASSERT_EQ(12.1, root["pose"]["covariance"].begin()->asDouble());
     ASSERT_EQ(23, root["pose"]["pose"]["orientation"]["x"].asDouble());
+    ASSERT_EQ(12, root["velocity"]["covariance"].begin()->asDouble());
+    ASSERT_EQ(17.33333333, root["velocity"]["covariance"][1].asDouble());
 }
\ No newline at end of file
diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
index 44529f2c8..3809cf6ba 100755
--- a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
+++ b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
@@ -631,8 +631,7 @@ void CARMAStreetsPlugin::SubscribeSSMKafkaTopic(){
 
 void CARMAStreetsPlugin::HandleSimulatedExternalMessage(ExternalObject &msg, routeable_message &routeableMsg)
 {
-	tmx::utils::sim::SimulationExternalObjectConverter converter;
-	auto json_str = converter.simExternalObjToJsonStr(msg);
+	auto json_str = tmx::utils::sim::SimulationExternalObjectConverter::simExternalObjToJsonStr(msg);
 	PLOG(logINFO) <<  "Produce External Object Message in JSON format:  " << json_str <<std::endl;
 	produce_kafka_msg(json_str, _transmitSimExternalObjTopic);
 }
diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
index 27ddd0ee1..783b5f7e8 100644
--- a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
+++ b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
@@ -135,9 +135,8 @@ namespace CDASimAdapter{
         if(external_object_listener)
         {
             std::string str_msg = consume_server_message(external_object_listener);
-            tmx::utils::sim::SimulationExternalObjectConverter converter;
             //To populate the simulation external object, this JSON string has to follow this specification: https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2563899417/Detected+Objects+Specification#CARMA-Street-and-V2xHub
-            converter.jsonToSimExternalObj(str_msg, externalObj);
+            tmx::utils::sim::SimulationExternalObjectConverter::jsonToSimExternalObj(str_msg, externalObj);
         }
         else
         {
diff --git a/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp b/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp
index 69a6372a5..7d6843fca 100644
--- a/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp
+++ b/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp
@@ -1,5 +1,6 @@
 #include <gtest/gtest.h>
 #include <simulation/ExternalObject.h>
+#include <simulation/SimulationExternalObjectConverter.h>
 #include <tmx/messages/routeable_message.hpp>
 #include <boost/chrono.hpp>
 
@@ -11,14 +12,12 @@ TEST(SimulationMessages, ExternalObjectToRoutableMessage)
 {
     simulation::ExternalObject externalObj;
     string expectedStr = "{\"metadata\":{\"is_simulation\":false,\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":0.0,\"sensor_y\":0.0,\"sensor_z\":0.0,\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0}},\"id\":0,\"pose\":{\"pose\":{\"position\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"orientation\":{\"x\":0.0,\"y\":0.0,\"z\":0.0,\"w\":0.0}},\"covariance\":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"velocity\":{\"twist\":{\"linear\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"angular\":{\"x\":0.0,\"y\":0.0,\"z\":0.0}},\"covariance\":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"size\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"confidence\":0.0,\"object_type\":\"\",\"dynamic_obj\":false}";
-    externalObj.set_contents(expectedStr);
-    ASSERT_EQ(expectedStr, externalObj.to_string());
+    tmx::utils::sim::SimulationExternalObjectConverter converter;
+    converter.jsonToSimExternalObj(expectedStr, externalObj);
     ASSERT_EQ("ExternalObject", std::string(simulation::ExternalObject::MessageSubType));
     ASSERT_EQ("Simulation", std::string(simulation::ExternalObject::MessageType));
     tmx::routeable_message routeableMsg;
-    routeableMsg.initialize(externalObj, "CDASimAdapter", 0 , IvpMsgFlags_None);
-    string output = "{\"metadata\":{\"is_simulation\":\"false\",\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":\"0.0\",\"sensor_y\":\"0.0\",\"sensor_z\":\"0.0\",\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":\"0\",\"stamp\":{\"secs\":\"0\",\"nsecs\":\"0\"}},\"id\":\"0\",\"pose\":{\"pose\":{\"position\":{\"x\":\"0.0\",\"y\":\"0.0\",\"z\":\"0.0\"},\"orientation\":{\"x\":\"0.0\",\"y\":\"0.0\",\"z\":\"0.0\",\"w\":\"0.0\"}},\"covariance\":[\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\"]},\"velocity\":{\"twist\":{\"linear\":{\"x\":\"0.0\",\"y\":\"0.0\",\"z\":\"0.0\"},\"angular\":{\"x\":\"0.0\",\"y\":\"0.0\",\"z\":\"0.0\"}},\"covariance\":[\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\",\"0.0\"]},\"size\":{\"x\":\"0.0\",\"y\":\"0.0\",\"z\":\"0.0\"},\"confidence\":\"0.0\",\"object_type\":\"\",\"dynamic_obj\":\"false\"}";
-    ASSERT_EQ(output, routeableMsg.get_payload_str());
+    routeableMsg.initialize(externalObj, "CDASimAdapter", 0, IvpMsgFlags_None);
     ASSERT_EQ("json", routeableMsg.get_encoding());
     ASSERT_EQ(0, routeableMsg.get_flags());
     auto current_time_mill = boost::chrono::duration_cast<boost::chrono::milliseconds>(boost::chrono::system_clock::now().time_since_epoch()).count();