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Lightweight, realistic dynamical simulator for 2D ("2.5D") vehicles and robots.It is tailored to analysis of vehicle dynamics, wheel-ground contact forces and accurate simulation of typical robot sensors (e.g. 2D and 3D lidars).

This package includes C++ libraries, standalone applications, and ROS 1 and ROS 2 nodes.

License: 3-clause BSD LicenseCopyright (C) 2014-2024 Jose Luis Blancojlblanco@ual.es (University of Almeria) and collaborators

Please, refer tothe MVSim SoftwareX paper (or theArXiV preprint)for a gentle introduction to the project architecture.If you want to cite MVSim in your work, please use:

@article{blanco2023mvsim,  title = {MultiVehicle Simulator (MVSim): Lightweight dynamics simulator for multiagents and mobile robotics research},  journal = {SoftwareX},  volume = {23},  pages = {101443},  year = {2023},  issn = {2352-7110},  doi = {https://doi.org/10.1016/j.softx.2023.101443},  url = {https://www.sciencedirect.com/science/article/pii/S2352711023001395},  author = {José-Luis Blanco-Claraco and Borys Tymchenko and Francisco José Mañas-Alvarez and Fernando Cañadas-Aránega and Ángel López-Gázquez and José Carlos Moreno}}

Spanish talk with English slides and subtitles (slides here):

Seeinstallation documentation for all the details and options.

The easiest way to install if you already have ROS 1 or ROS 2 is:

sudo apt install ros-$ROS_DISTRO-mvsim

Then jump tonext steps to see how to launch some of the demo worlds.

Distro	Build dev	Build releases	Stable version
ROS 1 Noetic (u20.04)		amd64 arm64 armhf
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

EOL distro	Stable version
ROS 1 Melodic (u18.04)
ROS 2 Foxy (u20.04)
ROS 2 Iron (u22.04)

• Main documentation site

If you clone this repository, remember to checkout the git submodules too:

git clone https://github.com/MRPT/mvsim.git --recursive

See more on first stepshere.

Standalone:

mvsim launch mvsim_tutorial/demo_warehouse.world.xmlmvsim launch mvsim_tutorial/demo_2robots.world.xmlmvsim launch mvsim_tutorial/test_mesh.world.xml

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

ros2 launch mvsim demo_warehouse.launch.pyros2 launch mvsim demo_depth_camera.launch.py

• Lightweight in memory, CPU and library requirements.
• Fully configurable via.xml "world" files.
• Headless mode, suitable for dockerized environments.
• World maps:
  • Occupancy gridmaps: input as images or MRPT binary maps (from icp-slam, rbpf-slam, etc.)
  • Elevation meshes.
• Vehicle models:
  • Differential driven (2 & 4 wheel drive).
  • Ackermann steering (kinematic & dynamic steering, different mechanical drive models).
  • Ackermann steering with mechanical differentials of full grade.
• Sensors:
  • 2D and 3D Lidars: Robots see each other, their own bodies, etc.
  • RGB cameras
  • Depth cameras
• Interface to vehicles: Custom Python interface, or ROS. Choose among:
  • Raw access to forces and motor torques.
  • Twist commands (using internal controllers).