# MARSIM

**Repository Path**: gchasing/MARSIM

## Basic Information

- **Project Name**: MARSIM
- **Description**: MARSIM
- **Primary Language**: Unknown
- **License**: GPL-2.0
- **Default Branch**: fuel_ubuntu20
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-03-27
- **Last Updated**: 2025-03-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# MARSIM
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

## Update

Ubuntu 20.04 is also supported in ubuntu20 branch.

**Ten realistic maps (low and high resolution) have been realeased in the realease packages.**

**A new branch that merge with FUEL has been released in the fuel_ubuntu20 branch.**

## Prerequisited

### Ubuntu and ROS

Ubuntu 16.04~20.04.  [ROS Installation](http://wiki.ros.org/ROS/Installation).

### PCL && Eigen && glfw3

PCL>=1.6, Follow [PCL Installation](https://pointclouds.org/). 

Eigen>=3.3.4, Follow [Eigen Installation](https://eigen.tuxfamily.org/index.php?title=Main_Page).

glfw3:
```
sudo apt-get install libglfw3-dev libglew-dev
```

### make
```
mkdir -p marsim_ws/src
cd marsim_ws/src
git clone git@github.com:hku-mars/MARSIM.git
cd ..
catkin_make
```

## run the simulation

```
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.

** If you want to use the GPU version of MARSIM, please set the parameter "use_gpu" to true. **

## run the simulation with FUEL algorithm

You should first change the branch to fuel_ubuntu20 branch. If you are using ubuntu 20.04, you should first download Nlopt and make install it in your environment. Then you can run the simulation by the command below:
```
source devel/setup.bash
roslaunch exploration_manager exploration.launch
```
Then click on 2Dgoal tool on the Rviz, randomly click on the map, and FUEL would automously run.

## Acknowledgments
Thanks for [FUEL](https://github.com/HKUST-Aerial-Robotics/FUEL.git)

## Future
More realistic maps and functions are going to be released soon.