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rmf_simulation

  • Software
  • Simulators
  • Library

Simulation plugins for Open-RMF that model buildings such as doors, lifts and crowds, plus robots with navigation, readonly position reporting and object teleporting.

Made by open-rmf.

Source on GitHub: github.com/open-rmf/rmf_simulation (opens in a new tab). Facts read at commit f7483b4 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE.md (opens in a new tab) (Apache-2.0) at commit f7483b4 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Building plugins simulate doors, lifts and crowds, the crowds through the Menge library.
  • Utility world plugins add a GUI to toggle charging behavior and floor visibility.
  • The slotcar plugin acts as a simple robot navigation stack and sends state updates to a fleet adapter over ROS 2 topics.
  • The readonly plugin estimates a mobile entity's itinerary from its position and a navigation graph, for traffic deconfliction.
  • Teleport dispenser and ingestor plugins move objects to and from robots in simulation.
  • Code is split into common, gz and gz_classic packages, with the Gazebo version tied to the supported ros_gz release.

Written by Robotheca from the project's README (opens in a new tab) at commit f7483b4.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
12 Oct 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.