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