Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2022-05-07
CI status No Continuous Integration
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Name Version
mvsim 0.3.1


mvsim Documentation Status

Develop branch Releases
ROS1 Noetic (u20.04) Build Status ROS1 Noetic (u20.04) Build Status
ROS1 Melodic (u18.04) Build Status ROS1 Melodic (u18.04) Build Status

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 (University of Almeria) and collaborators

MvSim intro



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).


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