Multiple sensor kits

[MarioAlmelaUMH]

Hello, I'm working with Carla and Autoware and I was wondering if this bridge supports multiple sensor kits. For example, if I wanted to add multiple cameras/lidars to the ego vehicle, to mimic real vehicle architectures, is there a way to change the sensor kit easily, or would it require to modify the whole bridge? In case it's possible, how should I do it, which config files should I change?

Thank you in advance.