Note
You're reading the documentation for a development version. For the latest released version, please have a look at Lyrical.
Configuring MVSim with ROS 2 - tutorial
MVSim is useful for fast mobile robot simulation, navigation testing, and multi-robot scenarios. This tutorial set introduces installation, demo launch, and world-definition tasks for MVSim. After using it, you will know which MVSim tutorial to follow for setup or custom scenario work.
This set of tutorials will teach you how to configure the MVSim simulator with ROS 2.
MVSim is a lightweight, open-source, multi-vehicle simulator focused on 2D+3D visualization of mobile robots. It uses Box2D for 2D rigid body physics and provides realistic vehicle dynamics models (differential drive, Ackermann steering), sensor simulation (2D/3D LiDARs, cameras, IMUs, GPS), and native ROS 2 integration. MVSim is particularly well-suited for testing navigation, SLAM, and multi-robot coordination scenarios with low computational overhead and fast iteration times.