MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
Paper is available on Arxiv: https://arxiv.org/abs/2211.10716
The video is available on youtube: https://youtu.be/hiRtcq-5lN0
Ubuntu 16.04~20.04. ROS Installation.
PCL>=1.6, Follow PCL Installation.
Eigen>=3.3.4, Follow Eigen Installation.
glfw3:
sudo apt-get install libglfw3-dev
mkdir -p marsim_ws/src
cd marsim_ws/src
git clone git@github.com:hku-mars/MARSIM.git
cd ..
catkin_make
source devel/setup.bash
roslaunch test_interface single_drone_avia.launch
Click on 3Dgoal tool on the rviz, you can give the UAV a position command to control its flight.
For now, we provide several launch files for users, which can be found in test_interface/launch folder.
You can change the parameter in launch files to change the map and LiDAR to be simulated.
Thanks for FUEL
More realistic maps and functions are going to be released soon.