Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

Repo symbol

mvsim repository

mvsim

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2025-05-28
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
mvsim 0.13.3

README

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) 2014-2024 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}
}

ROSCon talk

Spanish talk with English slides and subtitles (slides here):

MvSim ROSCon talk

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 amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version
ROS 2 Iron (u22.04) 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

File truncated at 100 lines see the full file

Repo symbol

mvsim repository

mvsim

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2025-05-28
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 0.13.3

README

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) 2014-2024 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}
}

ROSCon talk

Spanish talk with English slides and subtitles (slides here):

MvSim ROSCon talk

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 amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version
ROS 2 Iron (u22.04) 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

File truncated at 100 lines see the full file

Repo symbol

mvsim repository

mvsim

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2025-05-28
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 0.13.3

README

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) 2014-2024 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}
}

ROSCon talk

Spanish talk with English slides and subtitles (slides here):

MvSim ROSCon talk

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 amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version
ROS 2 Iron (u22.04) 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

File truncated at 100 lines see the full file

Repo symbol

mvsim repository

Repo symbol

mvsim repository

mvsim

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2025-05-28
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 0.13.3

README

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) 2014-2024 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}
}

ROSCon talk

Spanish talk with English slides and subtitles (slides here):

MvSim ROSCon talk

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 amd64 Build Status
arm64 Build Status
armhf Build Status
Version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 2 Foxy (u20.04) Version
ROS 2 Iron (u22.04) 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

File truncated at 100 lines see the full file

Repo symbol

mvsim repository

Repo symbol

mvsim repository

mvsim

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version develop
Last Updated 2025-06-20
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 0.13.3

README

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) 2014-2025 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}
}

ROSCon talk

Spanish talk with English slides and subtitles (slides here):

MvSim ROSCon talk

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

https://github.com/user-attachments/assets/766db164-2d16-44f4-acbf-2f15b73c1ab3

screenshot-demo

MvSim intro

Build matrix status

Distro Build dev Build releases Stable version
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Jazzy @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Kilted @ u24.04 Build Status amd64 Build Status
arm64 Build Status
Version
ROS 2 Rolling (u24.04) Build Status amd64 Build Status
arm64 Build Status
Version
EOL distro Stable version
ROS 1 Melodic (u18.04) Version
ROS 1 Noetic (u20.04) Version
ROS 2 Foxy (u20.04) Version
ROS 2 Iron (u22.04) 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:

File truncated at 100 lines see the full file