Build from sources


  • A decent C++17 compiler.
  • CMake >= 3.1
  • MRPT (>=2.0.0): In Windows, build from sources or install precompiled binaries.
  • Box2D: Will use an embedded copy if no system version is found.

In Ubuntu, this will install all requirements:

sudo apt install \
  build-essential cmake g++ \
  libbox2d-dev \
  libmrpt-opengl-dev libmrpt-obs-dev libmrpt-maps-dev \
  libmrpt-gui-dev libmrpt-tfest-dev \
  protobuf-compiler \
  libzmq3-dev \

Compile as usual:

mkdir build
cd build
cmake ..
#make test

ROS: Compiling & usage

Either install as a precompiled package:

sudo apt install ros-$ROS_DISTRO-mvsim

Or build from sources, by cloning into a catkin workspace and build as usual.

Usage: See docs and tutorials in