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Getting started with MVSim

Goal: Launch MVSim demo worlds both standalone and with ROS 2, and learn how to interact with simulated robots.

Tutorial level: Advanced

Time: 20 minutes

Background

MVSim ships with a collection of demo worlds that showcase different features such as multi-robot simulation, sensor configurations, terrain types, human actors, articulated vehicles and environment layouts. You can run these demos either as a standalone application using the mvsim CLI, or as a ROS 2 node that publishes sensor data and accepts velocity commands through standard ROS 2 topics.

MVSim demo screenshots

Prerequisites

You should have MVSim installed following the Installation (Ubuntu) tutorial.

Tasks

1 Launch demo worlds with the standalone CLI

MVSim includes a standalone launcher that does not require ROS 2. This is useful for quickly testing world files or for non-ROS use cases.

To launch the warehouse demo:

$ mvsim launch ~/ros2_ws/src/mvsim/mvsim_tutorial/demo_warehouse.world.xml

If you installed from binary packages, the demo files are typically found under /opt/ros/jazzy/share/mvsim/mvsim_tutorial/.

Some other demo worlds you can try:

  • demo_turtlebot_world.world.xml – A TurtleBot3 in a classic ROS-style environment with obstacles.

  • demo_2robots.world.xml – Two robots navigating among furniture blocks.

  • demo_elevation_map.world.xml – A Jackal robot driving over terrain with elevation data.

  • demo_greenhouse.world.xml – A complex greenhouse environment demonstrating XML loops for procedural content.

2 Controlling the robot

Once a world is running, you can control the robot using:

  • Keyboard: Press W/S to move forward/backward, A/D to turn left/right, and spacebar to stop. If the world has multiple robots, click on a robot in the GUI to select it before using keyboard controls.

  • Joystick: If a gamepad is connected, it will be automatically detected.

MVSim GUI control reference

The GUI also provides controls for camera view, simulation speed, and visualization options. You can toggle orthographic/perspective view and enable visualization of sensor data directly in the 3D window.

3 Launch with ROS 2

To launch MVSim as a ROS 2 node, use the provided launch files:

$ source /opt/ros/jazzy/setup.bash
$ ros2 launch mvsim demo_warehouse.launch.py

This starts the simulator and creates ROS 2 topics for each vehicle and sensor.

4 Inspect ROS 2 topics

With the demo running, open a new terminal and list the available topics:

$ ros2 topic list

You should see topics such as:

  • /robot1/cmd_vel – Send geometry_msgs/msg/Twist commands to control the robot.

  • /robot1/odom – Odometry from wheel encoders (nav_msgs/msg/Odometry).

  • /robot1/base_pose_ground_truth – Perfect ground truth pose.

  • /robot1/<sensor_name> – Sensor-specific topics (e.g., /robot1/lidar1_points for 3D LiDAR point clouds, /robot1/laser1 for 2D scans).

  • /tf and /tf_static – TF2 transforms following REP-105 (map → odom → base_link).

You can send velocity commands from the command line:

$ ros2 topic pub /robot1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5}, angular: {z: 0.3}}"

Or use teleop_twist_keyboard for interactive control:

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot1/cmd_vel

5 Visualize in RViz2

You can visualize MVSim sensor data in RViz2. Some launch files include an use_rviz option:

$ ros2 launch mvsim demo_warehouse.launch.py use_rviz:=True

Alternatively, open RViz2 manually and add displays for the topics of interest (e.g., LaserScan, PointCloud2, Image, Odometry).

MVSim depth camera visualization

6 Headless mode

For CI pipelines or remote servers without a display, MVSim supports headless operation:

$ ros2 launch mvsim demo_warehouse.launch.py headless:=True

This runs the full simulation without opening a GUI window.

Summary

In this tutorial, you launched MVSim demo worlds both standalone and with ROS 2. You learned how to control robots with keyboard and ROS 2 topics, inspect the published topics, and visualize data in RViz2. The next tutorial covers how to define your own worlds with custom robots and sensors.