MVSim: a lightweight MultiVehicle Simulator
Lightweight, realistic dynamical simulator for 2D (“2.5D”) vehicles and robots. It is tailored to analysis of vehicle dynamics, wheel-ground contact forces, and accurate simulation of typical robot sensors.
This project includes C++ and Python libraries, the standalone CLI application mvsim,
and ROS 1 and ROS 2 nodes, and it is licensed under the permissive 3-clause BSD License.
If you use MVSim in your work, feel free of citing the MVSim SoftwareX paper (or the ArXiV preprint):
Citation in BibTex format
@article{blanco2023mvsim,
title = {MultiVehicle Simulator (MVSim): Lightweight dynamics simulator for multiagents and mobile robotics research},
journal = {SoftwareX},
volume = {23},
pages = {101443},
year = {2023},
issn = {2352-7110},
doi = {https://doi.org/10.1016/j.softx.2023.101443},
url = {https://www.sciencedirect.com/science/article/pii/S2352711023001395},
author = {José-Luis Blanco-Claraco and Borys Tymchenko and Francisco José Mañas-Alvarez and Fernando Cañadas-Aránega and Ángel López-Gázquez and José Carlos Moreno}
}
Installing
How to install or build from sources
First steps
Launch your first simulations and play around…
World XML format specifications
All the details about how to design simulated worlds and robots
Documentation credits:
Borys Tymchenko @spsancti
Jose Luis Blanco Claraco @jlblancoc
GitHub repository
Link to the main Git repository