xyboxu/ir_sim

A python based robot simulator framework for the intelligent robotics navigation and learning

Intelligent Robot Simulator (ir-sim)

A python based robot simulator framework for the intelligent robotics navigation and learning.

Robot	Car

Features:

• Simple and easy to run with python;
• All the models and parameters can be set directly in the yaml configure file;
• Environment can be built easily by line, circle model and png images;
• Various robot kinematics models: omni-wheel, differential wheel, arckermann;
• Support collision check with environment;
• Equipped with various sensors: Lidar, GPS, Odometry etc.;
• Support keyboard controller;
• Easy to reproduce the robotics algorithms and extend for your own project.

Prerequisite

Test platform: Ubuntu20.04, windows10

• Python: >= 3.7
  • numpy
  • matplotlib
  • scipy

Installation

• Install this package by pip:

pip install ir_sim

• or install manually:

Clone and install the package

git clone https://github.com/hanruihua/ir_sim.git    
cd ir_sim   
pip install -e .  

Usage

The examples are in the ir_sim/usage

Author

Han Ruihua
Contact: [email protected]