{"repo":"lge-ros2/cloisim","free":true,"listed":false,"github":"https://github.com/lge-ros2/cloisim","clone":"git clone https://github.com/lge-ros2/cloisim.git","description":"Unity3D based multi-robot simulator can bring-up simulation environment by SDFormat (Simulation Description Format) easily. And it supports to connect ROS2 through cloisim_ros.","language":"C#","stars":175,"topics":["ros2","unity","simulation","gazebo","3d-simulation","sdf","sdfparser","csharp","protobuf","robotics"],"license":"MIT","category":"game-templates","readme_excerpt":"CLOiSim: Multi-Robot Simulator CLOiSim is a high-performance multi-robot simulator based on Unity 6 . It dynamically builds simulated 3D environments and robots directly from SDFormat (SDF) description files. 🚀 Overview CLOiSim was developed to address performance bottlenecks encountered with other simulators when loading multiple robots with complex sensor suites. By leveraging Unity's efficient rendering and physics pipelines, CLOiSim provides a scalable solution for large-scale robot simulation. Key Components - SDF Parser : Utilizes sdformat-sharp as a Unity package for robust and comprehensive SDF 1.6+ specification parsing. - Unity Implementer : Automated mapping of SDF elements to Unity's Visual, Collision, and Physics (ArticulationBody) components. - Transport Layer : High-performance sensor data and control signal transport via ZeroMQ (NetMQ). - Web Service : JSON-based simulation control and monitoring through a web interface. Full Video Demo --- 📢 Notices [!IMPORTANT] 🚨 CLOiSim has been upgraded to Unity 6.5 (6000.5.5f1). Legacy versions based on Unity 2022.3 LTS are no longer maintained. [!WARNING] ⚠️🔥 5.4.x or later is recommended over 5.3.x. Across 5.3.0–5.3.14, several fixes were attempted for a recurring freeze in the Unified Ray Tracing (URT) path (TLAS in-flight disposal, BVH rebuild races, GPU fence gating, TDR recovery, etc.), but the freeze kept resurfacing under load. Starting with 5.4.x, Depth Camera sensors (Depth / RealSense IR / VCSEL) have been ","default_branch":null,"files":null,"tree":[],"storefront":"/r/lge-ros2","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/lge-ros2/cloisim/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}