Jaeyoung-Lim · Oct 23, 2025
diff --git a/README.md b/README.md
@@ -25,19 +25,15 @@ The video is available on youtube: https://youtu.be/hiRtcq-5lN0 and
 
 ## Update
 
-Ubuntu 20.04 is also supported in ubuntu20 branch.
+Ubuntu 22.04 with ROS 2 Humble is supported.
 
 **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 and ROS 2
 
-Ubuntu 16.04~20.04.  [ROS Installation](http://wiki.ros.org/ROS/Installation).
+Ubuntu 22.04 with ROS 2 Humble. [ROS 2 Installation](https://docs.ros.org/en/humble/Installation.html).
 
 ### PCL && Eigen && glfw3
 
@@ -52,55 +48,37 @@ sudo apt-get install libglfw3-dev libglew-dev
 
 ### Make
 ```
-mkdir -p marsim_ws/src
-cd marsim_ws/src
+mkdir -p ros2_ws/src
+cd ros2_ws/src
 git clone git@github.com:hku-mars/MARSIM.git
 cd ..
-catkin_make
+colcon build
 ```
 
 ## Run single drone simulation
 
 ```
-source devel/setup.bash
-roslaunch test_interface single_drone_avia.launch
+source install/setup.bash
+ros2 launch test_interface single_drone_simple.launch.py
 ```
-Click on 3Dgoal tool on the Rviz, you can give the UAV a position command to control its flight.
+Click on 2D Goal Pose tool on the RViz2, 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. The maps have been uploaded to the realease files in this repository.
 
-```
-    <arg name="map_name" value="$(find map_generator)/resource/small_forest01cutoff.pcd"/>
-
-```
-
-**If you want to use the GPU version of MARSIM, please set the parameter "use_gpu" to true.**
-
-## Run single drone simulation with dynamic obstacles
-```
-source devel/setup.bash
-roslaunch test_interface single_drone_mid360_dynobs.launch
-```
-
-## Run multiple drones simulation
-```
-source devel/setup.bash
-roslaunch test_interface triple_drone_mid360.launch
-```
+**Available maps can be found in the `map_generator/resource/` folder.**
 
-## Run the simulation with FUEL algorithm
+**If you want to use the GPU version of MARSIM, please set the parameter "use_gpu_" to true.**
 
-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:
+## Run single drone simulation with MID360 LiDAR
 ```
-source devel/setup.bash
-roslaunch exploration_manager exploration.launch
+source install/setup.bash
+ros2 launch test_interface single_drone_mid360.launch.py
 ```
-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.
+More realistic maps and functions are going to be released soon.
diff --git a/Utils/mars_quadrotor_msgs/CMakeLists.txt b/Utils/mars_quadrotor_msgs/CMakeLists.txt
@@ -1,124 +1,89 @@
-#-cmake_minimum_required(VERSION 2.4.6)
-#-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-#-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-#-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-#-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#-\rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-
-#-rosbuild_add_library(encode_msgs src/encode_msgs.cpp)
-#-rosbuild_add_link_flags(encode_msgs -Wl,--as-needed)
-
-#list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-#find_package(Eigen3 REQUIRED)
-
-#include_directories(${EIGEN3_INCLUDE_DIR})
-#-rosbuild_add_library(decode_msgs src/decode_msgs.cpp)
-#-rosbuild_add_link_flags(decode_msgs -Wl,--as-needed)
-
-#------------------------------------------------------------------
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
 project(quadrotor_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-        #armadillo
-        roscpp
-        nav_msgs
-        geometry_msgs
-        message_generation
-        )
-
-set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
-
-include_directories(
-        ${catkin_INCLUDE_DIRS}
-        include
-)
-
-#
-add_message_files(
-        FILES
-        esdf_map.msg
-        fc_to_oa.msg
-        oa_result.msg
-        vio_result.msg
-        ctrl.msg
-        aec.msg
-        AuxCommand.msg
-        Corrections.msg
-        Gains.msg
-        OutputData.msg
-        PositionCommand.msg
-        PPROutputData.msg
-        Serial.msg
-        SO3Command.msg
-        StatusData.msg
-        TRPYCommand.msg
-        Odometry.msg
-        PolynomialTrajectory.msg
-        MincoTrajectory.msg
-        LQRTrajectory.msg
-        drone_aec_info.msg
-        oa_manager_debug.msg
-        TakeoffLand.msg
-        Px4ctrlDebug.msg
-        ServerTime.msg
-        TrakingPerformance.msg
-        MpcPositionCommand.msg
-        QuadrotorState.msg
-)
-
-generate_messages(
-        DEPENDENCIES
-        geometry_msgs
-        nav_msgs
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 REQUIRED)
 
-catkin_package(
-        #INCLUDE_DIRS include
-        LIBRARIES encode_msgs decode_msgs
-        #CATKIN_DEPENDS geometry_msgs nav_msgs
-        #DEPENDS system_lib
-        CATKIN_DEPENDS message_runtime
+include_directories(include)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/EsdfMap.msg"
+  "msg/FcToOa.msg"
+  "msg/OaResult.msg"
+  "msg/VioResult.msg"
+  "msg/Ctrl.msg"
+  "msg/Aec.msg"
+  "msg/AuxCommand.msg"
+  "msg/Corrections.msg"
+  "msg/Gains.msg"
+  "msg/OutputData.msg"
+  "msg/PositionCommand.msg"
+  "msg/PPROutputData.msg"
+  "msg/Serial.msg"
+  "msg/SO3Command.msg"
+  "msg/StatusData.msg"
+  "msg/TRPYCommand.msg"
+  "msg/Odometry.msg"
+  "msg/PolynomialTrajectory.msg"
+  "msg/MincoTrajectory.msg"
+  "msg/LQRTrajectory.msg"
+  "msg/DroneAecInfo.msg"
+  "msg/OaManagerDebug.msg"
+  "msg/TakeoffLand.msg"
+  "msg/Px4ctrlDebug.msg"
+  "msg/ServerTime.msg"
+  "msg/TrakingPerformance.msg"
+  "msg/MpcPositionCommand.msg"
+  "msg/QuadrotorState.msg"
+  DEPENDENCIES geometry_msgs nav_msgs std_msgs builtin_interfaces
 )
 
-# add_executable(test_exe src/test_exe.cpp)
 add_library(decode_msgs src/decode_msgs.cpp)
 add_library(encode_msgs src/encode_msgs.cpp)
 
-# add_dependencies(test_exe quadrotor_msgs_generate_messages_cpp)
-add_dependencies(encode_msgs quadrotor_msgs_generate_messages_cpp)
-add_dependencies(decode_msgs quadrotor_msgs_generate_messages_cpp)
-
-find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
-
-
-# target_link_libraries(test_exe 
-#     decode_msgs 
-#     encode_msgs
-# )
-
+target_include_directories(decode_msgs PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_include_directories(encode_msgs PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(decode_msgs PUBLIC c_std_99 cxx_std_17)
+target_compile_features(encode_msgs PUBLIC c_std_99 cxx_std_17)
+
+ament_target_dependencies(decode_msgs "Eigen3")
+ament_target_dependencies(encode_msgs "Eigen3")
+
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(decode_msgs "${cpp_typesupport_target}")
+target_link_libraries(encode_msgs "${cpp_typesupport_target}")
+
+install(TARGETS decode_msgs encode_msgs
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# Install header files
+install(DIRECTORY include/
+  DESTINATION include/)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/Utils/mars_quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h b/Utils/mars_quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
@@ -3,21 +3,21 @@
 
 #include <stdint.h>
 #include <vector>
-#include <quadrotor_msgs/OutputData.h>
-#include <quadrotor_msgs/StatusData.h>
-#include <quadrotor_msgs/PPROutputData.h>
+#include <quadrotor_msgs/msg/output_data.hpp>
+#include <quadrotor_msgs/msg/status_data.hpp>
+#include <quadrotor_msgs/msg/ppr_output_data.hpp>
 
 namespace quadrotor_msgs
 {
 
 bool decodeOutputData(const std::vector<uint8_t> &data,
-                      quadrotor_msgs::OutputData &output);
+                      quadrotor_msgs::msg::OutputData &output);
 
 bool decodeStatusData(const std::vector<uint8_t> &data,
-                      quadrotor_msgs::StatusData &status);
+                      quadrotor_msgs::msg::StatusData &status);
 
 bool decodePPROutputData(const std::vector<uint8_t> &data,
-                         quadrotor_msgs::PPROutputData &output);
+                         quadrotor_msgs::msg::PPROutputData &output);
 }
 
 #endif
diff --git a/Utils/mars_quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h b/Utils/mars_quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
@@ -3,19 +3,19 @@
 
 #include <stdint.h>
 #include <vector>
-#include <quadrotor_msgs/SO3Command.h>
-#include <quadrotor_msgs/TRPYCommand.h>
-#include <quadrotor_msgs/Gains.h>
+#include <quadrotor_msgs/msg/so3_command.hpp>
+#include <quadrotor_msgs/msg/trpy_command.hpp>
+#include <quadrotor_msgs/msg/gains.hpp>
 
 namespace quadrotor_msgs
 {
 
-void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command,
+void encodeSO3Command(const quadrotor_msgs::msg::SO3Command &so3_command,
                       std::vector<uint8_t> &output);
-void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command,
+void encodeTRPYCommand(const quadrotor_msgs::msg::TRPYCommand &trpy_command,
                        std::vector<uint8_t> &output);
 
-void encodePPRGains(const quadrotor_msgs::Gains &gains,
+void encodePPRGains(const quadrotor_msgs::msg::Gains &gains,
                     std::vector<uint8_t> &output);
 }
 

diff --git a/Utils/mars_quadrotor_msgs/msg/aec.msg → Utils/mars_quadrotor_msgs/msg/Aec.msg b/Utils/mars_quadrotor_msgs/msg/aec.msg → Utils/mars_quadrotor_msgs/msg/Aec.msg
diff --git a/Utils/mars_quadrotor_msgs/msg/Bspline.msg b/Utils/mars_quadrotor_msgs/msg/Bspline.msg
@@ -10,6 +10,6 @@ int32 order
 int64 traj_id
 float64[] knots
 geometry_msgs/Point[] pts
-time start_time
+builtin_interfaces/Time start_time
 float64 time_extra
 float64 replan_to_global_time
diff --git a/Utils/mars_quadrotor_msgs/msg/ctrl.msg → Utils/mars_quadrotor_msgs/msg/Ctrl.msg b/Utils/mars_quadrotor_msgs/msg/ctrl.msg → Utils/mars_quadrotor_msgs/msg/Ctrl.msg
diff --git a/...ars_quadrotor_msgs/msg/drone_aec_info.msg → .../mars_quadrotor_msgs/msg/DroneAecInfo.msg b/...ars_quadrotor_msgs/msg/drone_aec_info.msg → .../mars_quadrotor_msgs/msg/DroneAecInfo.msg
diff --git a/Utils/mars_quadrotor_msgs/msg/esdf_map.msg → Utils/mars_quadrotor_msgs/msg/EsdfMap.msg b/Utils/mars_quadrotor_msgs/msg/esdf_map.msg → Utils/mars_quadrotor_msgs/msg/EsdfMap.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 uint16 map_plantform
 uint8 map_version
 uint8 map_log_version

diff --git a/Utils/mars_quadrotor_msgs/msg/fc_to_oa.msg → Utils/mars_quadrotor_msgs/msg/FcToOa.msg b/Utils/mars_quadrotor_msgs/msg/fc_to_oa.msg → Utils/mars_quadrotor_msgs/msg/FcToOa.msg
diff --git a/Utils/mars_quadrotor_msgs/msg/Gains.msg b/Utils/mars_quadrotor_msgs/msg/Gains.msg
@@ -1,4 +1,4 @@
-float64 Kp
-float64 Kd
-float64 Kp_yaw
-float64 Kd_yaw
+float64 kp
+float64 kd
+float64 kp_yaw
+float64 kd_yaw
diff --git a/Utils/mars_quadrotor_msgs/msg/LQRTrajectory.msg b/Utils/mars_quadrotor_msgs/msg/LQRTrajectory.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 
 # the trajectory id, starts from "1".
 uint32 trajectory_id

diff --git a/Utils/mars_quadrotor_msgs/msg/MincoTrajectory.msg b/Utils/mars_quadrotor_msgs/msg/MincoTrajectory.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 
 # the trajectory id, starts from "1".
 uint32 trajectory_id
@@ -26,7 +26,7 @@ float64[] waypoints_z
 float64[] time
 float64   mag_coeff
 uint32[]  order
-time start_time
+builtin_interfaces/Time start_time
 float64 local_start_t
 #the occ state of trajectory.
 uint32 occ_state