Package Summary
Tags | No category tags. |
Version | 0.3.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/MRPT/mvsim.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-08-03 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]
Messages
Services
Plugins
Recent questions tagged mvsim at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.3.2 |
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 | 2022-08-03 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
mrpt_rbpf_slam | github-mrpt-ros-pkg-mrpt_slam |
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]
Messages
Services
Plugins
Recent questions tagged mvsim at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.3.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/MRPT/mvsim.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-08-03 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
mrpt_rbpf_slam | github-mrpt-ros-pkg-mrpt_slam |
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]
Messages
Services
Plugins
Recent questions tagged mvsim at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.3.2 |
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 | 2022-08-03 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
mrpt_rbpf_slam | github-mrpt-ros-pkg-mrpt_slam |
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]
Messages
Services
Plugins
Recent questions tagged mvsim at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.3.2 |
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 | 2022-08-03 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
mrpt_rbpf_slam | github-mrpt-ros-pkg-mrpt_slam |
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]
Messages
Services
Plugins
Recent questions tagged mvsim at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.3.2 |
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 | 2022-08-03 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
mrpt_rbpf_slam | github-mrpt-ros-pkg-mrpt_slam |
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]
Messages
Services
Plugins
Recent questions tagged mvsim at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 0.3.2 |
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 | 2022-08-03 |
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
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
Distro | Develop branch | Releases |
---|---|---|
ROS1 Melodic (u18.04) | ||
ROS1 Noetic (u20.04) | ||
ROS2 Rolling (u22.04) | xxx |
MultiVehicle simulator (libmvsim)
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 the C++ library mvsim
, a standalone app and a ROS node.
License: 3-clause BSD License Copyright (C) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Docs
Main features
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml
"world" files. - 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:
- Laser scanners: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
Changelog for package mvsim
Forthcoming
- Remove trailing \'/\' in tf frame names for consistency with modern conventions.
- Rename COPYING -> LICENSE
- Towards supporting ROS2
- 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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
mrpt_rbpf_slam | github-mrpt-ros-pkg-mrpt_slam |
Launch files
- mvsim_tutorial/localization_pf_demo1.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: false]
- mvsim_tutorial/mvsim_demo_1robot.launch
- ROS1 launch file
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_1robot.world.xml]
- mvsim_do_fake_localization [default: true]
- mvsim_tutorial/mvsim_demo_2robots.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_demo_2robots.world.xml]
- mvsim_tutorial/mvsim_slam.launch
-
- world_file [default: $(find mvsim)/mvsim_tutorial/mvsim_slam.world.xml]