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:
    • 2D lidar 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).