  Sensor simulation has emerged as a promising and powerful technique to find
solutions to many real-world robotic tasks like localization and pose
tracking.However, commonly used simulators have high hardware requirements and
are therefore used mostly on high-end computers. In this paper, we present an
approach to simulate range sensors directly on embedded hardware of mobile
robots that use triangle meshes as environment map. This library called Rmagine
allows a robot to simulate sensor data for arbitrary range sensors directly on
board via raytracing. Since robots typically only have limited computational
resources, the Rmagine aims at being flexible and lightweight, while scaling
well even to large environment maps. It runs on several platforms like Laptops
or embedded computing boards like Nvidia Jetson by putting an unified API over
the specific proprietary libraries provided by the hardware manufacturers. This
work is designed to support the future development of robotic applications
depending on simulation of range data that could previously not be computed in
reasonable time on mobile systems.
