• Travis CI:
• ROS build farm:
  • git master:
    • ROS Kinetic @ u16.04 Xenial
    • ROS Melodic @ u18.04 Bionic
  • Last released version:
    • ROS Melodic @ u18.04 Bionic:
    • ROS Kinetic @ u16.04 Xenial:

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. laser scanners).

This package includes the C++ library mvsim, a standalone app and a ROS node.

License: GNU General Public License version 3 Copyright (C) 2017 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Docs

• The mvsim manual is the main reference document can be found in docs/user_manual.tex.
• (TO-DO) ROS tutorials (Write me!!)
• http://wiki.ros.org/mvsim

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.
• Interface to vehicles: Choose among:
  • Raw access to forces and motor torques.
  • Twist commands (using internal controllers).

Compiling: standalone

Requisites: * A decent C++ compiler! * CMake >= 3.1 * MRPT (>=1.5.4 from 1.5 series; or >=2.0.0): In Windows, build from sources or install precompiled binaries. * Box2D: Will use an embedded copy if no system version is found.

In Ubuntu, this will install all requirements:

 sudo apt-get install libmrpt-dev libbox2d-dev

ROS: Compiling & usage

• Install: sudo apt-get install ros-$ROS_DISTRO-mvsim

• Build: clone to your catkin workspace and build as usual

• Usage: See docs and tutorials in http://wiki.ros.org/mvsim

Compiling: MOOS / OpenMORA

This package is already included in OpenMORA.

Changelog for package mvsim

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