mvsim package from mvsim repo

mvsim

Package Summary

Tags No category tags.
Version 0.9.4
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 2024-06-18
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) 2014-2023 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

0.9.4 (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 Ca

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 0.9.4
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 2024-06-18
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) 2014-2023 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

0.9.4 (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 Ca

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 0.9.4
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 2024-06-18
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) 2014-2023 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

0.9.4 (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 Ca

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 0.9.4
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 2024-06-18
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) 2014-2023 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

0.9.4 (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 Ca

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 0.9.4
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 2024-06-18
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) 2014-2023 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

0.9.4 (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 Ca

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 0.9.4
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 2024-06-18
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) 2014-2023 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

0.9.4 (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 Ca

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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