Getting started

The shortest path from zero to a running simulation. No ROS, no concepts — just get it on screen.

Prerequisites

  • Linux with Python 3.10+ and git (MuJoCo is installed automatically into the venv).

Five steps

# 1. get the code
git clone <roqsim-repo-url>
cd roqsim

# 2. create the virtual environment and install everything
make venv

# 3. run the TurtleBot 4 demo world (a viewer window opens)
.venv/bin/roqsim sim roqsim_mobile:turtlebot4_demo

A MuJoCo window opens and the TurtleBot 4 drives in a circle. That’s it.

No display? Run it headless

.venv/bin/roqsim sim roqsim_mobile:turtlebot4_demo \
    --headless --pacing asap --steps 1000 --profile

--profile prints a per-plugin timing table so you can see where the time goes.

roqsim_mobile:turtlebot4_demo is a world resolved by name from an installed package; a path to a world YAML works just as well. roqsim is the only command name to learn — roqsim --help lists the groups, one per installed package that ships tools.

Where to next

  • Quickstart — run headless, change pacing, drive from scenario-execution or ROS 2.

  • Interfaces — the world YAML schema and the plugin/context APIs.

  • Available plugins — the built-in plugins and their config keys.

  • nav2 example — navigate the TurtleBot with nav2 over ROS 2.