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mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MRPT/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MRPT/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

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mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MRPT/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mvsim at Robotics Stack Exchange

mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MRPT/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mvsim at Robotics Stack Exchange

mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MRPT/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2024-08-27
Dev Status DEVELOPED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mvsim at Robotics Stack Exchange

mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2024-08-27
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mvsim at Robotics Stack Exchange

mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2024-08-27
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2024-08-27
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Jazzy @ u24.04 Build Status Build Status Version
ROS 2 Rolling (u24.04) Build Status Build Status Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mvsim at Robotics Stack Exchange

mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MRPT/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2024-10-02
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A lightweight multivehicle simulation framework.

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.

mvsim Documentation Status CI Linux CI Check clang-format

MultiVehicle simulator (MVSim)

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 License Copyright (C) 2014-2024 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Please, refer to the MVSim SoftwareX paper (or the ArXiV 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}
}

ROSCon talk

Slides

Installation

See installation 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 to next steps to see how to launch some of the demo worlds.

Demo videos

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 1 Noetic (u20.04) Build Status amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Iron (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version

Docs

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

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

Launch demos

See more on first steps here.

Standalone:

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

ROS 1:

roslaunch mvsim demo_depth_camera.launch

ROS 2:

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

Main features

  • 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).
CHANGELOG

Changelog for package mvsim

0.10.0 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Merge pull request #52 from finani/fix-fake-amcl Fix fake amcl topic (QoS Durability)
  • Update outdated copyright years in source files
  • Merge pull request #51 from finani/nav2-compatible Nav2 compatible
  • Update codebase to new clang-format style
  • Merge pull request #48 from finani/refactoring-node Refactoring node
  • Merge pull request #45 from finani/develop Add tf pub for each robot (support namespace)
  • Merge pull request #43 from kr-jschoi/fix-bug Fix namespace switching bug between mvsim.chassis_shape and mvsim.chassis_shape.wheel3 in /chassis_markers
  • Contributors: Inhwan Wee, Jose Luis Blanco-Claraco, finani, kr-jschoi

0.9.4 (2024-05-08)

  • Better detection of "in collision" flag.
  • Update to clang-format-14
  • Upgrade Joystick API so it works correctly with an arbitrary number of axes
  • ROS nodes: add collision state publishers for each vehicle
  • remove dead code
  • Contributors: Jose Luis Blanco-Claraco

0.9.3 (2024-04-24)

  • Fix usage of (new explicit) TPoint3D constructors
  • Contributors: Jose Luis Blanco-Claraco

0.9.2 (2024-03-21)

  • BUG FIX: 3D lidars should not 'see' XYZ corners of wheels
  • BUG FIX: gridmaps were published at a too high rate in the ROS 2 node
  • remove dead code
  • update header version
  • Contributors: Jose Luis Blanco-Claraco

0.9.1 (2024-03-05)

  • Fix use of mrpt bridge to publish XYZIRT point clouds too for ROS 1
  • Contributors: Jose Luis Blanco-Claraco

0.9.0 (2024-03-02)

  • Do not publish tf world->map
  • Expose do_fake_localization as ROS 2 launch file argument
  • fix build with older mrpt
  • 3D Lidar: also generate "ring" ID per point
  • Contributors: Jose Luis Blanco-Claraco

0.8.3 (2023-12-05)

  • Generate ground truth trajectory files in the TUM format
  • ROS nodes: add a timeout for cmd_vel commands, so the robots stop if input messages stop
  • Add rviz_plugin_tutorials dependency for ROS1
  • Contributors: Jose Luis Blanco-Claraco, Michael Grupp

0.8.2 (2023-10-06)

  • 3D LIDARs: Bilinear interpolation (when it makes sense) to obtain much smoother point cloud simulations
  • Add missing build dep on python3-pip. This was triggering errors on ROS 1 build farm dev builds.
  • Contributors: Jose Luis Blanco-Claraco

0.8.1 (2023-09-07)

  • Move the rawlog-generation option to the World global options instead of sensor-wise.
  • Create CITATION.cff
  • helios 32fov70 sensor.xml: Fix missing MVSIM_CURRENT_FILE_DIRECTORY tag
  • Fix crash in edge case with world file path in the current directory
  • Contributors: Jose Luis Blanco-Claraco

0.8.0 (2023-09-02)

  • Recursive "include"s are now possible.
  • All vehicle and sensor definitions are now exposed in public directory 'definitions' and are safe to be included from user worlds
  • ROS warehouse demos: fix wrong camera topicn ame in rviz
  • Add missing ROS 2 launch demo for greenhouse world
  • Add new variable: MVSIM_CURRENT_FILE_DIRECTORY
  • BUGFIX: In parseVars() in the XML parser
  • Debugging feature: MVSIM_VERBOSE_PARSE now also traces <variable> definitions
  • Contributors: Jose Luis Blanco-Claraco

0.7.4 (2023-08-30)

  • Add new LIDAR 3D models: Helios 32.
  • Removed LIDAR3D fbo_nrows parameter, automatically computed now from geometry solutions.
  • More optimal simulation of asymmetric 3D lidars.
  • Progress with RTD documentation.
  • Add proper bibliography; fix all docs warnings
  • ROS 2 warehouse demo: show 2D lidar in RVIZ too; add headless launch argument
  • New GUI editor feature: move sensor poses
  • Contributors: Jose Luis Blanco-Claraco

0.7.3 (2023-08-23)

  • Update python module install method to pip (fixes deprecation)
  • Improved docs
  • Contributors: Jose Luis Blanco-Claraco

0.7.2 (2023-08-12)

  • Joystick driving: added support for direct driving the vehicles with a joystick.
  • Fix rviz for ros1 demo
  • Better docs and more modern RST style.
  • More shadow tuning parameters.
  • IMU sensor now reads real vehicle linear acceleration.
  • Contributors: Jose Luis Blanco-Claraco

0.7.1 (2023-06-11)

  • ROS node: fix potential race condition creating publisher for highrate sensors
  • Add IMU sensors
  • New property <visual enabled='true|false'>
  • lidar2d xml: add option "sensor_custom_visual"
  • FIX: Crash if launching an empty world
  • Trigger an error if using use_sim_time to avoid mistakes
  • Add new (fake) controller: twist_ideal
  • ROS 1: don't enforce /use_sim_time
  • Add ROS 2 launch for the 2-robot demo
  • Fix cmake leftover
  • Contributors: Jose Luis Blanco-Claraco

0.7.0 (2023-04-21)

  • Automatic detection of collision shapes
  • Add turtlebot world demo
  • Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
  • fix inconsistent use_sim_time value for ROS 2 (it should be false)
  • Expose shadow rendering parameters in the XML world file
  • Abort simulation on exceptions in headless mode too
  • ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
  • Add ros2 launch for turtlebot world demo
  • Automatic determination of zmin/zmax for blocks if not explicitly set in XML
  • Force c++17 for python module
  • Exit simulator on exceptions in GUI-related threads
  • More automated testing
  • Add unit tests in C++ too
  • Refactor collision shape determination
  • New UI checkbox: show collision shapes
  • Allow simply geometry definitions without external 3D model file for "blocks"
  • Light options are now under <light> XML tag.
  • Largest default physics simulation timestep changed from 50ms to 5ms
  • GUI: change light direction
  • Add GUI checkbox to enable/disable shadows
  • Add rplidar A2 sensor model
  • Contributors: Jose Luis Blanco-Claraco

0.6.1 (2023-03-04)

  • New XML parameters to enable and tune shadowmap generation
  • Use finer timestep for prevent wrong simulation of ramp sliding
  • Fix code notation
  • Temporary workaround to GH CI problem
  • Contributors: Jose Luis Blanco-Claraco

0.6.0 (2023-02-26)

  • Support for SkyBox rendering (requires MRPT >=2.7.0)
  • More camera options in world.xml files (initial azimuth, elevation, etc.)
  • Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
  • Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
  • Add Ouster OS1 sensor file
  • Fix default friction coefficients; draw motor torques too
  • More accurate Velodyne simulation based on sensor_rpm parameter
  • Clearer code and code style conventions
  • Add "<static>" XML tag for large, static world objects
  • Support for XML tag <if ...>
  • Refactor xml parser as a registry of tag->function
  • Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
  • Added a "greenhouse" example world
  • Wheels: allow linked-yaw-objects in vehicle viz
  • Support several <visual> tags in custom visualization models
  • pybind11 sources simplification. Simplify into one single source tree with conditional compilation for different pybind versions.
  • Emit clearer warnings and earlier detection of wrong bounding boxes
  • Add reference to (preprint) paper
  • Controllers: Made threadsafe
  • Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
  • BUGFIX: program did not quit if using a non-existing launch file.
  • BUGFIX: unneeded friction coefficient for chassis body
  • BUGFIX: bbox for compound vehicle models
  • BUGFIX: <for> loops ignored more than one inner tag
  • BUGFIX: Add epsilon value for bbox determination in 3D models

0.5.2 (2023-01-27)

  • FIX build farm errors in armhf builds
  • Contributors: Jose Luis Blanco-Claraco

0.5.1 (2023-01-26)

  • FIX: Stuck unit test runs in armhf build farms
  • Add demo with a large number of robots (100) in a simple setup
  • Support <for> loops in world definition files
  • Contributors: Jose Luis Blanco-Claraco

0.5.0 (2023-01-09)

  • New warehouse demo world file, including ros2 launch.
  • New feature: download models from remote servers.
  • Add 3D Lidar sensor.
  • Add support for headless simulations (mvsim launch --headless), suitable for running inside docker containers
  • New world element: vertical planes.
  • Add <for /> loops in XML world files
  • Support for formulas in XML files via exprtk expressions
  • Fix naming convention; fix warnings
  • Move to clang-format-11
  • More consistent class member naming convention
  • Add simple Velodyne sensor DAE model
  • Add wget as build and runtime dep
  • PubSub system: Implemented the feature to notify subscribed clients about a new publisher for a topic
  • New 3D model: pioneer3
  • ROS: Add build and test dep python3-protobuf
  • Added unit tests
  • mvsim cli: add the --realtime-factor flag
  • more topic echo types
  • publish 2D lidar observations as custom protobuf msgs too
  • Add new protobuf msg type ObservationLidar2D.proto
  • add shutdown service
  • Fixed Python topic subscription and parsing
  • avoid potential crash during shutdown
  • FIX: Timelogger verbosity level is now copied from the main World object.
  • BUGFIX: Lidar sensors with ignore_parent_body=true should neither see the wheels
  • Tune PID parameters of examples
  • Refactoring and simplification of mutexes
  • cache GetServiceInfoRequest() calls (more efficient service calls in comms::Client)
  • factorize World services into its own .cpp file for clarity
  • Contributors: Jose Luis Blanco-Claraco

0.4.3 (2022-11-14)

  • add names to gl objects (useful to debug)
  • configurable gui open timeout
  • GUI: new button Editor->Export 3Dscene file
  • Add a warning if using a physics timestep is incompatible with the sensor periods
  • FIX: more accurate simulation of timesteps; more mutexes
  • automatic determination of timestep; FIX bug: constant offset in simul time
  • fix FBO api for mrpt 2.5.6
  • fix build against mrpt 2.5.6; fix infinite loop while hitting quit button
  • refactor TCLAP objects to avoid global object initialization fiasco crashes
  • handle old and new versions of tf_geometry_msgs
  • mvsim cli new command: topic hz
  • Fix ROS2 obsolete header
  • fix build for u18.04
  • fix for older zmq versions
  • fix newest zmq deprecated warnings
  • FIX: DAE file error to load on newer version of assimp
  • provide cmake config types for gcc sanitizers
  • fix zmq API in bionic
  • avoid zmq_message_t ctor; more parallel threads for ZMQ
  • make the get_pose() service to answer immediately without needing to acquire the main simulation mutex
  • fix escaping
  • more portable makefile comparison for libbox2d version
  • d/rules: auto detection of system libbox2d version
  • Contributors: Jose Luis Blanco-Claraco

0.4.2 (2022-10-19)

  • Disable Python wrappers for python <3.8
  • Honor DESTDIR when building and installing
  • Honor cli-provided PYTHON_INSTALL_DIRECTORY via cmake flags
  • Fix protobuf-generated broken Python3 imports (using protoletariat)
  • Add new WorldElement type: pointcloud
  • Add Python3 example for teleop twist
  • Contributors: Jose Luis Blanco-Claraco

0.4.1 (2022-10-13)

  • Add more documentation, demo files, and screenshots
  • Support animations from keyframe list for blocks and vehicles
  • Refactor common xml params in Simulable interface
  • Support PARENT_NAME usage in sensor definition files; add "<publish>" tags to tutorial sensors
  • 2D lidar sensor: new XML parameter maxRange
  • change threshold to decimate sensors preview subwindows
  • BUGFIX: Uninitialized quaternion in rviz marker (Closes #14)
  • Allow expressions in include tags
  • Expose more lidar params in its XML
  • Contributors: Jose Luis Blanco-Claraco

0.4.0 (2022-09-27)

  • Major new release with tons of new features.
  • New sensors: RGB, depth, RGB+D cameras
  • Support for ROS1 and ROS2.
  • Sensors now can have 3D models.
  • New GUI controls to customize visualization.
  • New 3 and 4 wheels differential kinematic models.
  • Allow "include"s in XML files.
  • Add 3D Jackal robot model.
  • ROS nodes: publishers in parallel thread
  • mvsim-cli new flag to enable full profiling
  • Use new nanogui feature to limit GUI refresh rate
  • Fix running faster than real-time
  • More consistent timestamping of simulated sensors
  • mvsim now shows program version info
  • get_pose() service now also gets twist
  • Fix elevation maps
  • pybind11 per-version directory
  • Remove trailing '/' in tf frame names for consistency with modern conventions.
  • Rename COPYING -> LICENSE
  • Contributors: Jose Luis Blanco-Claraco

0.3.2 (2022-06-21)

  • Install models/ subdirectory too
  • Changes towards building for both ros1 & ros2
  • Copyright date bump
  • Fix build and dependencies for ROS1.
  • Fix build w/o python
  • Fix consistent include path for installed targets
  • BUGFIX: Fix random SIGSEGV due to unsafe shared global object for random number generation
  • Fix no installation of mvsim_msgs python module
  • Fix demo robot starts out of the map
  • Contributors: Jose Luis Blanco-Claraco

0.3.1 (2022-04-25)

  • update 2 robots demo
  • Add pybind11 as build dep
  • fix ros node compilation
  • fix build w/o ros
  • Fix compilation of the ROS1 node against the latest mvsim libraries
  • Fix cmake policy error in pybind11
  • Add missing ros deps
  • Add missing build dep box2d-dev
  • Update README.md
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.3.0 (2022-03-04)

  • RGBD camera simulation
  • MRPT 2.x is now required to build mvsim.
  • Update build dep to mrpt2
  • License changed to 3-clause BSD.
  • Merge pull request #11 from SRai22/patch-1 Update install.rst: needs libprotobuf-dev and libpython3-dev for building from source
  • New checkboxes to see sensor poses and FOVs
  • Lidar: ignore parent body option
  • Lidar: realistic 3D raytrace mode
  • enable textures in planes
  • add support for ground and ceiling planes
  • clean elevation mesh code
  • save_to_rawlog option
  • register callbacks instead of virtual functions
  • New command "topic echo NAME"
  • Add support for intangible blocks; publish relative poses
  • Add support and example for standalone sensors
  • allow changing the server IP or address
  • add optional profiler to Client
  • Protect main socket with mutex
  • fix walls rendering; add new walls demo xml
  • allow custom user 3D objects
  • timelog format fix
  • show class name in timelogger
  • World: expose GUI object
  • GUI and minor tweaks
  • much faster models loading
  • fix wrong collision resetting
  • safer report collisions
  • Fix usage of the update_fps parameter
  • Fix build against mrpt 2.1.8
  • force build against python3
  • more standard python3 deb pkg generation
  • solved python pkg problem in bionic
  • fix python in bionic
  • debian: fix python3 install dir
  • add missing python3 dep
  • fix deb python packaging
  • remove useless cmake include
  • first fully-working set_pose from python
  • Progress with python wrappers
  • Enhance python wrapper
  • Document a minimum size limitation in box2d.
  • small preliminary test for camera sensor
  • Use newer mrpt-gui window manager
  • Fix wallHeight wall parameter correct usage
  • editor: basic rotate and move objects
  • refactor gui code into smaller methods
  • fix rendering of non-custom objects
  • functional replace by coordinates
  • Progress with replace GUI
  • progress with bbox rendering
  • progress with mouse move UI
  • refactor: unify all simulable objects in one list
  • update asserts to latest mrpt2 names
  • Better service response
  • safer multithread gui
  • avoid possible exception in serialization
  • Return collision state
  • Detect and report collisions
  • add setStatic method
  • progress debugging ramps
  • Add incremental set_pose srv
  • add get_pose() service
  • Import walls working
  • walls progress
  • progress loading wall models
  • Start doxygen integration in docs
  • fix not seeing the robot owns body
  • subscription works; example updated
  • Feature: XML variables parsing
  • update pybind11
  • done topic subscriptions; fix proper thread joinable checks.
  • basic subscription works
  • progress subscribe topics
  • fix crash upon exit due to unjoined threads
  • use -dbg postfix for debug libraries
  • implemented command topic list
  • docs on world xml parameters
  • fix visualization of sensors in custom viz models
  • add missing file
  • Add ZMQ monitor to connections
  • fix install include dir
  • fix copy pb hdr files
  • clear leftover traces
  • auto bbox from visuals
  • More modular debian packaging
  • services and set_pose() is working
  • progress implementing services
  • Blocks and vehicles publishes their pose
  • Large code refactor:
    • Use mrpt::math types for twist and points
    • Use smart pointers
    • Remove duplicated code via new methods in base class Simulable
  • done with publishTopic()
  • advertise topics
  • done list nodes command
  • implement query node list
  • refactor Client without parallel thread
  • refactor mvsim-cli sources
  • progress server
  • fix cmake exported targets
  • fix install
  • unregister nodes
  • basic python bindings
  • refactor into modules
  • progress with server parsing messages
  • verbosity levels in client
  • ignore files
  • refactor into one main cli tool: mvsim
  • zmq forwards header
  • add thread names
  • fix build against zmq<4.4
  • First zmq message interchanges
  • basic server thread infraestructure
  • progress defining client/server protocol
  • Add alternative 3D visualization to blocks and vehicles
  • start refactor for visual objects
  • fix -Werror error in u18.04
  • Add zmq and protobuf
  • prefer std::move
  • Enforce override keyword
  • use system logger instead of cout
  • avoid raw pointer for box2d instance
  • refactor param structures
  • fix opengl memory leak
  • Port to nanogui
  • done port to mrpt2
  • prefer nullptr
  • narrower mrpt dependencies
  • port docs to sphinx
  • add circle-ci
  • reorganize badges
  • fix main doc file
  • fix debian installed files path
  • use system libbox2d
  • add debian packaging files
  • modernize: cmake exported targets
  • show box2d system library version
  • cmake commands to lower case
  • Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

0.2.1 (2019-04-12)

  • Fix build against latest mrpt-master & 1.5.x versions.
  • add ROS build farm badges
  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.2.0 (2018-06-28)

  • fix build against mrpt1
  • update to package XML format 2
  • fix build in mrpt 2.0
  • use docker in travis
  • Allow mvsim to be built w/o ROS again
  • Merge pull request #10 from spsancti/master GSoC contribution to mvsim See discussion thread: https://github.com/MRPT/GSoC2017-discussions/issues/2
  • Added description of world files
  • Added description of loggers and Ward-Iagnemma friction model
  • Added refernce to Torsen-defferntial
  • Added desctiption of Ackermann-drivetrain dynamics
  • Added Doxyfile
  • Added user manual with basic friction model described
  • Added text logger for CSV format
  • Add mvsim slam demo.
  • fix catkin deps: it now requires mrpt_bridge
  • LaserScanner: new option to make all fixtures invisible
  • Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Logrus

0.1.2 (2015-05-24)

  • Cleaner build against mrpt 1.3.0
  • Fix build against mrpt 1.3.0
  • Contributors: Jose Luis Blanco

0.1.1 (2014-12-28)

  • First public release.
  • Contributors: Jose Luis Blanco

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • mvsim_tutorial/demo_jackal.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_jackal.world.xml]
  • mvsim_tutorial/demo_1robot.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_1robot.world.xml]
      • mvsim_do_fake_localization [default: true]
  • mvsim_tutorial/demo_2robots.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_2robots.world.xml]
  • mvsim_tutorial/demo_turtlebot_world.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_turtlebot_world.world.xml]
  • mvsim_tutorial/demo_warehouse.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_warehouse.world.xml]
  • mvsim_tutorial/demo_depth_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_depth_camera.world.xml]
  • mvsim_tutorial/demo_camera.launch
    • ROS1 launch file. See *.launch.py files for ROS2 launch files
      • world_file [default: $(find mvsim)/mvsim_tutorial/demo_camera.world.xml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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