Distro	Build dev	Build releases	Stable sync
ROS1 Melodic (u18.04)
ROS1 Noetic (u20.04)
ROS2 Foxy (u20.04)
ROS2 Humble (u22.04)
ROS2 Rolling (u22.04)

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) 2014-2022 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators

Docs

• Main documentation site
• https://wiki.ros.org/mvsim

Launch demos

Standalone:

mvsim launch mvsim_tutorial/mvsim_demo_2robots.world.xml

mvsim launch mvsim_tutorial/test_mesh.world.xml

ROS1:

roslaunch mvsim mvsim_demo_depth_camera.launch

ROS2:

ros2 launch mvsim mvsim_demo_depth_camera.launch.py

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).