First steps

After installing or building from sources, you are ready to test the standalone simulator applications to get used to MVSIM.

1. Manual vehicle teleop

build/bin/mvsim-server mvsim_tutorial/mvsim_demo_2robots.xml

You should see the GUI of a demo world with two robots equipped with a 2D lidar, scanning a model defined by means of an occupancy grid map and a couple of boxes.

Use the keyboard to teleop the vehicle: w/s to increase/decrease the PI controller setpoint linear speed, and a/d to turn the Ackermann steering to the left/right. Use the spacebar as a brake.

Select the active robot by pressing the keys 1 or 2.

screenshot-demo-2robots

Screenshot of the mvsim_demo_2robots example world.

Note

The GUI of this program is likely to change soon.