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

mvsim launch mvsim_tutorial/mvsim_demo_2robots.world.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.

2. ROS launch files

Once the ROS1 or ROS2 mvsim package is installed, you should be able to launch one of the many demo files, for example:

# For ROS1:
roslaunch mvsim mvsim_demo_jackal.launch

# For ROS2:
ros2 launch mvsim mvsim_demo_jackal.launch.py
MVSIM Simulating Jackal Robot in ROS2

Screenshot of the mvsim_demo_jackal ROS demo.