This is a robot simulator.It works with ROS.
The moving obstacle disturbs the robot's sensor
$ mkdir ~/catkin_ws/src -p
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws/
$ git clone https://github.com/nnn112358/robotics_Lidar_sim2d.git
$ catkin build
$ roslaunch n_robot_sim sim_2d_gui.launch
Push "Z" key is MapEditor Mode.