navrobot / mvsim

Vehicle dynamics simulator: C++ library, ROS node

ROS build farm: git master: M Last release: M K

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. laser scanners).

This package includes the C++ library mvsim, a standalone app and a ROS node.

License: 3-clause BSD License Copyright (C) 2014-2020 Jose Luis Blanco [e-mail] (University of Almeria) and collaborators

Docs

• Main documentation site
• https://wiki.ros.org/mvsim

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.
• Interface to vehicles: Choose among:
  • Raw access to forces and motor torques.
  • Twist commands (using internal controllers).