Hi! Thank you very much for having released the code! I was trying to build it but I got quite a few issues.
The first one is regarding Eigen, the error was: fatal error: Eigen/Core: No such file or directory. I solved this one by changing every instance of #include <Eigen/ to #include <eigen3/Eigen/.
Hoping to have solved this problem I am now presented with a new one I am not able to solve myself, in particular the error I now have is:

/home/my_username/marsim/src/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1194:9: error: ‘size_’ not specified in enclosing ‘parallel’
 1194 | #pragma omp for

with many other like this all regarding the file pointcloud_render_node.cpp.
Do you have any suggestion on how to tackle it?

Dear authors, thanks for your great work. It's amazing!

May I know when you will open source this code? Thanks!

Hi.

First of all, big thanks to the authors and maintainers of this project – great work!

I have a question: Do you have any plans to add ROS 2 support to MARSIM? I'm really interested in using MARSIM for my research and would love cite some of your awesome work. However, I need to integrate it with ROS2.

It would be fantastic if you're considering making it ROS 2 compatible. I guess there are at least hundreds of researchers hoping this to be converted to ROS 2! Or, could you offer any advice on how to port it to ROS 2? For example, which part of the repo should be largely ported from ROS to ROS 2. I'd greatly appreciate it.

By the way, I'm curious if there's any connection between the uav_simulator in FUEL's repository and MARSIM. Are these simulators completely independent?

Hi, i want to thank for your amazing work first.
I encounter a problem when trying to run fast_lio2 by using point cloud and imu data from MARSIM.
I already change the topic name in FAST_LIO/config/avia.yaml as follow

but point cloud data seem do not successfully connect to /laserMapping

Thanks for your reply first.

how cab i deal with this error .

我尝试了采用RVIZ中的3D导航工具进行仿真测量。我想请教一下除了采用这种交互的方式，能否采用读取轨迹文件的方式让无人机按照预设轨迹（区别于控制导航算法）运行？谢谢！

Hello!
Are there any points or suggestions for running FUEL in MARSIM? thanks.

Hello, I'm currently using the simulator to simulate drone flight. I've encountered two issues with the simulator, namely the drone speed control and map loading issues.

1. Regarding the drone speed control issue: I would like to be able to control the flight speed of the drone in the simulator. However, I'm not sure how to set it up. What are some methods I can use to achieve this?

2. Regarding the map loading issue: I have a point cloud with 250,000 points covering an area of 160m x 1000m. However, when I load them into the program, the points are heavily downsampled. I'm wondering if there are any parameters I can adjust to load this environment without downsampling the points.

Thank you for your help!

Hi,

The Points Clouds used in this project https://www.youtube.com/watch?v=hiRtcq-5lN0 look very clean and sharp. Which device was used to create these clouds? and which SLAM algorithm?

Hi! I found your work to be really interesting, especially being one of the few simulators to support livox sensors and to my knowledge the first to simulate the Mid-360.

Do you have any schedule on when the code will become available?

Hi, it seems like a transform problem, and I test it in both branches in ubuntu20.04 with the same result.

想请教一下，如何对感知范围进行修改，我修改了single drone xml的sensing_horizon，感知范围并没有变化。感谢回答

is there a paper linked with this ?

Thank you for your great work! This job seems to publish ten maps, but I only see 2 pcd files in the resource folder.

I integrated it with fast-planner, and when i used the mid 360, the point cloud cannot scan the ground .
I haved change the vertical_fov. But it didn't work.

            <param name="drone_id" value="$(arg drone_id)"/>
            <param name="quadrotor_name" value="quad_$(arg drone_id)"/>
            <param name="uav_num" value="$(arg uav_num_)"/>
            <param name="is_360lidar" value="1"/>
            <param name="sensing_horizon" value="15.0"/>
            <param name="sensing_rate" value="10.0"/>
            <param name="estimation_rate" value="10.0"/>
            <param name="polar_resolution" value="0.2"/>
            <param name="yaw_fov" value="360.0"/>
            <param name="vertical_fov" value="90.0"/>
            <param name="min_raylength" value="1.0"/>
            <param name="livox_linestep" value="1.4"/>
            <param name="curvature_limit" value="100.0"/>
            <param name="hash_cubesize" value="5.0"/>
            <param name="use_avia_pattern" value="0"/>
            <param name="use_vlp32_pattern" value="0"/>
            <param name="use_minicf_pattern" value="1"/>

            <param name="downsample_res" value="$(arg downsample_resolution_)"/>

            <param name="dynobj_enable" value="0"/>
            <param name="dynobject_size" value="0.8"/>
            <param name="dynobject_num" value="10"/>
            <param name="dyn_mode" value="0"/><!-- 0 for a=0, 1 for a=g, 2 for random walk -->
            <param name="dyn_velocity" value="1.0"/>

            <param name="use_uav_extra_model" value="$(arg use_uav_extra_model_)"/>

            <!-- collision parameter -->
            <param name="collisioncheck_enable" value="0"/>
            <param name="collision_range" value="0.3"/>
            <param name="output_pcd" value="0"/>
        </node>
    </group>`

How do i param it? thanks.

Hello, I greatly appreciate your work on this article. During the testing process, I noticed that the simulation of mid365 LiDAR did not match the vertical field of view of real radar. How did this occur?

Great work. I wonder that whether the simulated point cloud have motion distortion. What's more, is it suitable for Point-LIO？