| Distro | Build dev | Build releases | Stable sync |
|---|---|---|---|
| ROS1 Melodic (u18.04) |  |
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| ROS1 Noetic (u20.04) |  |
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| ROS2 Foxy (u20.04) |  |
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| ROS2 Humble (u22.04) |  |
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| ROS2 Rolling (u22.04) |  |
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) 2014-2023 Jose Luis Blanco jlblanco@ual.es (University of Almeria) and collaborators
Standalone:
mvsim launch mvsim_tutorial/mvsim_demo_warehouse.world.xml
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_warehouse.launch.py
ros2 launch mvsim mvsim_demo_depth_camera.launch.py
- Lightweight in memory, CPU and library requirements.
- Fully configurable via
.xml"world" files. - Headless mode, suitable for dockerized environments.
- 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:
- 2D and 3D Lidars: Robots see each other, their own bodies, etc.
- RGB cameras
- Depth cameras
- Interface to vehicles: Custom Python interface, or ROS. Choose among:
- Raw access to forces and motor torques.
- Twist commands (using internal controllers).
- catkin_generate_changelog
- catkin_prepare_release
- cmake . to update the version.h file.
- commit
- merge develop -> master
- bloom-release