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map_simulator ROS 2 2-D simulator

map_simulator ROS 2 2-D simulator, adapted from okermorgant/map_simulator. It reads odom_pose, odom_twist, read_odometry and read_scan; runs spawn_robot and publish_twist. spawn_robot: call the upstream /simulator/spawn service to create a robot or reset an existing robot's pose. The Spawn response is empty, so the receipt confirms only that the service callback returned; it does not prove creation, URDF arrival, motion or a stopped robot. A simulator: the market serves it with a stand-in that needs no simulator install.

simulatedRisk R2MITcontract_checkedserved on the fake backend
openai4s lab add robots/okermorgant__map_simulator
All install options REFERENCE.md Upstream repository Registry record

Install

Three ways to run this device. Each one serves its fake backend: no instrument, no simulator install and no upstream checkout.

OpenAI4S (one command)

shell
openai4s lab add robots/okermorgant__map_simulator

Installs the device into the OpenAI4S Lab on its fake backend and starts it. First time? See setup below.

Or, in the workbench, open the Lab tab → Market → Install.

Standalone MHS endpoint

shell
git clone --depth 1 https://github.com/PKU-YuanGroup/OpenMHS.git && cd OpenMHS
PYTHONPATH=MHS/sdk/src python3 -m mhs serve robots/okermorgant__map_simulator --port 7400
# in a second terminal, from the same directory:
PYTHONPATH=MHS/sdk/src python3 -m mhs describe --endpoint http://127.0.0.1:7400

Serves the device as an MHS endpoint on port 7400 from an OpenMHS clone (Python 3.10 or later, standard library only); describe prints what it offers.

Any MCP host (Claude Desktop, Cursor, …)

mcp configuration
{
  "mcpServers": {
    "map-simulator": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/okermorgant__map_simulator",
        "--mcp"
      ],
      "env": {
        "PYTHONPATH": "/path/to/OpenMHS/MHS/sdk/src"
      }
    }
  }
}

Add this server to the host's MCP configuration and replace /path/to/OpenMHS with the path of your OpenMHS clone. The host starts the server and talks to it on stdin and stdout.

What it does

Measures

  • odom_pose
  • odom_twist
  • read_odometry
  • read_scan

Adjusts

Nothing declared.

Actions

spawn_robot
Call the upstream /simulator/spawn service to create a robot or reset an existing robot's pose. The Spawn response is empty, so the receipt confirms only that the service callback returned; it does not prove creation, URDF arrival, motion or a stopped robot.
publish_twist
Publish one geometry_msgs/Twist to the upstream /robot1/cmd_vel subscription. The callback copies linear.x, linear.y and angular.z into the robot odometry twist. The receipt proves only that rosbridge accepted the publication; it does not prove motion or a stopped robot. cmd_vel is a topic a physical mobile robot also consumes, so this action is R2 (REVIEW.md item 12).

Names as the driver declares them. Units, limits and the safety declaration are in the package's REFERENCE.md.

First-time setup

The OpenAI4S workbench with the OpenMHS lab, from a source checkout:

shell
# OpenAI4S workbench with the OpenMHS lab (source checkout)
git clone --recursive https://github.com/PKU-YuanGroup/OpenAI4S.git
cd OpenAI4S && ./setup.sh && source .venv/bin/activate
openai4s lab add robots/okermorgant__map_simulator
openai4s serve        # open the Lab tab

The standalone endpoint and the MCP server need only an OpenMHS clone and Python 3.10 or later. More in the market's getting-started guide and on the OpenAI4S host page.

Source and evidence

Pinned commit
537a06464d7f
Licence
MIT
Stars
16
Evidence
contract_checked on the fake backend
Backends
fake

The driver package MHS/drivers/robots/okermorgant__map_simulator wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.