logrus / mvsim

Vehicle dynamics simulator: ROS node and C++ library

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: GNU General Public License version 3 Copyright (C) 2014 Jose Luis Blanco [email protected] (University of Almeria) and collaborators

Docs

• (TO-DO) The mvsim manual is the main reference document. (Write me!!)
• (TO-DO) ROS tutorials (Write me!!)
• http://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).
• 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).

Compiling: standalone

Requisites:

• A decent C++ compiler!
• MRPT (>=1.0.0 required; >=1.2.2 recommended): In Windows, build from sources or install precompiled binaries.
• Box2D: Will use an embedded copy if no system version is found.

In Ubuntu, this will install all requirements:

 sudo apt-get install libmrpt-dev libbox2d-dev

ROS: Compiling & usage

• Install: sudo apt-get install ros-$ROS_DISTRO-mvsim

• Usage: See docs and tutorials in http://wiki.ros.org/mvsim

Compiling: MOOS / OpenMORA

This package is already included in OpenMORA.