Iterate fast evaluating the number and type of sensors, marker placement, intrinsic and extrinsic sensor parameters, update frequencies, latency and more. Shhuna Simulator speeds up the development of sensor fusion systems by generating virtual sensor data. It supports video cameras (pinhole and fisheye, visible and IR), IMUs and pose sensors. The simulated data streams can be stored e.g. in rosbag files and used for evaluation of algorithms. A command line interface and headless mode simplify the implementation of automatic testing schemes.