The project comprises:

  • A C++ library: libmvsim
  • A ROS1 node. It can be run standalone.
  • mvsim-server: A standalone program to run the simulation and, optionally, displaying a GUI live view of the world, accept keyboard/mouse orders, etc. It also uses ZMQ+protobuf as a communication system for user programs to interact with the simulation (for example, from a C++ or Python program).