mvsim repository

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2022-10-04
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

mvsim Documentation Status

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

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

screenshot-demo-2robots

MvSim intro

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.

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2022-10-04
Dev Status DEVELOPED
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 0.4.0

README

mvsim Documentation Status

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

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

screenshot-demo-2robots

MvSim intro

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.

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2022-10-04
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

mvsim Documentation Status

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

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

screenshot-demo-2robots

MvSim intro

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.

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2022-10-04
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

mvsim Documentation Status

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

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

screenshot-demo-2robots

MvSim intro

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.

Repository Summary

Checkout URI https://github.com/ual-arm-ros-pkg/mvsim.git
VCS Type git
VCS Version master
Last Updated 2022-10-04
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

mvsim Documentation Status

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

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

screenshot-demo-2robots

MvSim intro

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.