There are a few that are geared towards humanoid robotics and/or general multibody applications, but they can be used for the purposes of mobile robotics as well:
- OpenHRP: Open source, tons of libraries written in C++ included for forward dynamics simulations and visualizations as well. Its a bit of a pain to get up and running though, quite a few dependencies that are very sensitive to the versions.
- Robotran: Free for personal use and/or research uses. Operates primarily in the Matlab/Simulink environment. Very easy to get models up and running.
- MapleSim: Commercial software but useful for very sophisticated modeling. Exports efficient symbolic multibody dynamics for simulation/visualization in Matlab/Simulink as well.
All of these packages are for simulation/visualization which is useful for general design of robotic applications.
