MVSim

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.

• Installation (Ubuntu)
• Getting started with MVSim
• Defining worlds, robots, and sensors