Metadata-Version: 2.1
Name: mvsim
Version: 0.5.2
Summary: Multivehicle Simulator
Home-page: https://github.com/MRPT/mvsim
Author: Jose Luis Blanco Claraco
Author-email: jlblanco@ual.es
License: Simplified BSD license
Description: [![mvsim](https://circleci.com/gh/MRPT/mvsim.svg?style=svg)](https://circleci.com/gh/MRPT/mvsim) [![Documentation Status](https://readthedocs.org/projects/mvsimulator/badge/?version=latest)](https://mvsimulator.readthedocs.io/en/latest/?badge=latest)
        [![CI Linux](https://github.com/MRPT/mvsim/actions/workflows/build-linux.yml/badge.svg)](https://github.com/MRPT/mvsim/actions/workflows/build-linux.yml)
        [![CI Check clang-format](https://github.com/MRPT/mvsim/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mvsim/actions/workflows/check-clang-format.yml)
        
        | Distro | Build dev | Build releases | Stable sync |
        | ---    | ---       | ---            | ---         |
        | ROS1 Melodic (u18.04) | [![Build Status](https://build.ros.org/job/Mdev__mvsim__ubuntu_bionic_amd64/badge/icon)](https://build.ros.org/job/Mdev__mvsim__ubuntu_bionic_amd64/) | [![Build Status](https://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__mvsim__ubuntu_bionic_amd64__binary/badge/icon)](https://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__mvsim__ubuntu_bionic_amd64__binary/) | [![Version](https://img.shields.io/ros/v/melodic/mvsim)](https://index.ros.org/search/?term=mvsim) |
        | ROS1 Noetic (u20.04) | [![Build Status](https://build.ros.org/job/Ndev__mvsim__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mvsim__ubuntu_focal_amd64/) |  [![Build Status](https://build.ros.org/job/Nbin_uF64__mvsim__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mvsim__ubuntu_focal_amd64__binary/)  | [![Version](https://img.shields.io/ros/v/noetic/mvsim)](https://index.ros.org/search/?term=mvsim) |
        | ROS2 Foxy (u20.04) | [![Build Status](https://build.ros2.org/job/Fdev__mvsim__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Fdev__mvsim__ubuntu_focal_amd64/) |  [![Build Status](https://build.ros2.org/job/Fbin_uF64__mvsim__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Fbin_uF64__mvsim__ubuntu_focal_amd64__binary/) | [![Version](https://img.shields.io/ros/v/foxy/mvsim)](https://index.ros.org/search/?term=mvsim) |
        | ROS2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mvsim__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mvsim__ubuntu_jammy_amd64/) |  [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mvsim__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mvsim__ubuntu_jammy_amd64__binary/) | [![Version](https://img.shields.io/ros/v/humble/mvsim)](https://index.ros.org/search/?term=mvsim) |
        | ROS2 Rolling (u22.04) | [![Build Status](https://build.ros2.org/job/Rdev__mvsim__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mvsim__ubuntu_jammy_amd64/) |  [![Build Status](https://build.ros2.org/job/Rbin_uJ64__mvsim__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__mvsim__ubuntu_jammy_amd64__binary/)  | [![Version](https://img.shields.io/ros/v/rolling/mvsim)](https://index.ros.org/search/?term=mvsim) |
        
        MultiVehicle simulator (MVSIM)
        ======================================
        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 (e.g. 2D and 3D lidars).
        
        This package includes C++ libraries, standalone applications, and ROS-1 and ROS-2 nodes.
        
        License: 3-clause BSD License
        Copyright (C) 2014-2023 Jose Luis Blanco <jlblanco@ual.es> (University of Almeria) and collaborators
        
        ![screenshot-demo](docs/imgs/mvsim-ros2-demo.gif)
        
        [![MvSim intro](https://img.youtube.com/vi/xMUMjEG8xlk/0.jpg)](https://www.youtube.com/watch?v=xMUMjEG8xlk)
        
        Docs
        ----------
          * [Main documentation site](https://mvsimulator.readthedocs.io/en/latest/)
          * https://wiki.ros.org/mvsim
          
        Launch demos
        --------------
        
        Standalone:
        
            mvsim launch mvsim_tutorial/mvsim_demo_warehouse.world.xml
            mvsim launch mvsim_tutorial/mvsim_demo_2robots.world.xml
            
            mvsim launch mvsim_tutorial/test_mesh.world.xml
        
        
        ROS1:
        
            roslaunch mvsim mvsim_demo_depth_camera.launch
        
        ROS2:
        
            ros2 launch mvsim mvsim_demo_warehouse.launch.py
            ros2 launch mvsim mvsim_demo_depth_camera.launch.py
        
        Main features
        --------------
          * Lightweight in memory, CPU and library requirements.
          * Fully configurable via `.xml` "world" files.
          * Headless mode, suitable for dockerized environments.
          * World maps:
            * Occupancy gridmaps: input as images or MRPT binary maps (from icp-slam, rbpf-slam, etc.)
            * Elevation meshes.
          * Vehicle models:
            * Differential driven (2 & 4 wheel drive).
            * Ackermann steering (kinematic & dynamic steering, different mechanical drive models).
            * Ackermann steering with mechanical differentials of full grade.
          * Sensors:
            * 2D and 3D Lidars: Robots see each other, their own bodies, etc.
            * RGB cameras
            * Depth cameras
          * Interface to vehicles: Custom Python interface, or ROS. Choose among:
            * Raw access to forces and motor torques.
            * Twist commands (using internal controllers).
        
        
        Release checklist
        -------------------
        
        - catkin_generate_changelog
        - catkin_prepare_release
        - cmake . to update the version.h file.
        - commit
        - merge develop -> master
        - bloom-release
        
        
        
Keywords: robotics
Platform: UNKNOWN
Classifier: Development Status :: 5 - Production/Stable
Classifier: Intended Audience :: Education
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: Operating System :: MacOS
Classifier: Operating System :: Microsoft :: Windows
Classifier: Operating System :: POSIX
Classifier: License :: OSI Approved :: BSD License
Classifier: Programming Language :: Python :: 3
Description-Content-Type: text/markdown
