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Repository Summary
| Checkout URI | https://github.com/MRPT/mvsim.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-05-07 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| mvsim | 0.3.1 |
README
| Develop branch | Releases |
|---|---|
| ROS1 Noetic (u20.04) |
ROS1 Noetic (u20.04) |
| ROS1 Melodic (u18.04) |
ROS1 Melodic (u18.04) |
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).
CONTRIBUTING
No CONTRIBUTING.md found.
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