No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mvsim.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-30 |
| 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) |
Packages
| Name | Version |
|---|---|
| mvsim | 0.4.0 |
README
| Distro | Develop branch | Releases |
|---|---|---|
| ROS1 Melodic (u18.04) | ||
| ROS1 Noetic (u20.04) | ||
| ROS2 Rolling (u22.04) |
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
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).
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/MRPT/mvsim.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-30 |
| 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) |
Packages
| Name | Version |
|---|---|
| mvsim | 0.4.0 |
README
| Distro | Develop branch | Releases |
|---|---|---|
| ROS1 Melodic (u18.04) | ||
| ROS1 Noetic (u20.04) | ||
| ROS2 Rolling (u22.04) |
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
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).
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.