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Demo worlds

This page describes the worlds provided as examples ready to run within MVSim.

Note

The 3D models used in these demos belong to either the MVSim main repository or the mvsim-models repository (and downloaded automatically via world_remote-resources). In any case, each model is accompanied by its corresponding LICENSE and attribution to the author(s).

List of demos

demo_1robot

A simple 2D world defined via an occupancy grid map and a robot equipped with 2D lidars.

.. tab-item:: ROS 1

roslaunch mvsim demo_1robot.launch

ROS 2

ros2 launch mvsim demo_1robot.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_1robot.world.xml

World XML code

File: mvsim_tutorial/demo_1robot.world.xml

../mvsim_tutorial/demo_1robot.world.xml

demo_2robots

A world with 2 simple robots and a couple of custom "blocks" (furniture).

.. tab-item:: ROS 1

roslaunch mvsim demo_2robots.launch

ROS 2

ros2 launch mvsim demo_2robots.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_2robots.world.xml

World XML code

File: mvsim_tutorial/demo_2robots.world.xml

../mvsim_tutorial/demo_2robots.world.xml

demo_camera

Example of a robot with a camera sensor (RGB).

.. tab-item:: ROS 1

roslaunch mvsim demo_camera.launch

ROS 2

ros2 launch mvsim demo_camera.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_camera.world.xml

World XML code

File: mvsim_tutorial/demo_camera.world.xml

../mvsim_tutorial/demo_camera.world.xml

demo_depth_camera

Example of a robot with a depth camera sensor (RGB+D).

.. tab-item:: ROS 1

roslaunch mvsim demo_depth_camera.launch

ROS 2

ros2 launch mvsim demo_depth_camera.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_depth_camera.world.xml

World XML code

File: mvsim_tutorial/demo_depth_camera.world.xml

../mvsim_tutorial/demo_depth_camera.world.xml

demo_elevation_map

Example of a 3D Lidar robot in a "2.5D" world defined by an elevation map.

.. tab-item:: ROS 1

roslaunch mvsim demo_elevation_map.launch

ROS 2

ros2 launch mvsim demo_elevation_map.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_elevation_map.world.xml

World XML code

File: mvsim_tutorial/demo_elevation_map.world.xml

../mvsim_tutorial/demo_elevation_map.world.xml

demo_greenhouse

Example of a 3D Lidar robot in a greenhouse. The XML illustrates features such as XML-level variables, XML-for loops for repetitive patterns of objects, slightly randomized-perturbations in plant poses, etc.

.. tab-item:: ROS 1

roslaunch mvsim demo_greenhouse.launch

ROS 2

ros2 launch mvsim demo_greenhouse.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_greenhouse.world.xml

World XML code

File: mvsim_tutorial/demo_greenhouse.world.xml

../mvsim_tutorial/demo_greenhouse.world.xml

demo_turtlebot_world

The MVSim port of the classic ROS "turtlebot world" scenario. The XML illustrates how to define obstacle blocks with basic geometric shapes without external .dae or .stl files.

.. tab-item:: ROS 1

roslaunch mvsim demo_turtlebot_world.launch

ROS 2

ros2 launch mvsim demo_turtlebot_world.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_turtlebot_world.world.xml

World XML code

File: mvsim_tutorial/demo_turtlebot_world.world.xml

../mvsim_tutorial/demo_turtlebot_world.world.xml

demo_warehouse

Example of a 3D Lidar Jackal robot in a warehouse. The XML illustrates how to animate an object to make it to follow a given trajectory in a loop.

.. tab-item:: ROS 1

roslaunch mvsim demo_warehouse.launch

ROS 2

ros2 launch mvsim demo_warehouse.launch.py

Standalone MVSim build

Assuming you compiled MVSim in the directory MVSIM_ROOT, with cmake build directory build-Release, run:

cd MVSIM_ROOT
build-Release/bin/mvsim launch mvsim_tutorial/demo_warehouse.world.xml

World XML code

File: mvsim_tutorial/demo_warehouse.world.xml

../mvsim_tutorial/demo_warehouse.world.xml