  This letter presents a multi-scenario adaptable intelligent robot simulation
platform based on LIDAR-inertial fusion, with three main features: (1 The
platform includes an versatile robot model that can be freely controlled
through manual control or autonomous tracking. This model is equipped with
various types of LIDAR and Inertial Measurement Unit (IMU), providing ground
truth information with absolute accuracy. (2 The platform provides a collection
of simulation environments with diverse characteristic information and supports
developers in customizing and modifying environments according to their needs.
(3 The platform supports evaluation of localization performance for SLAM
frameworks. Ground truth with absolute accuracy eliminates the inherent errors
of global positioning sensors present in real experiments, facilitating
detailed analysis and evaluation of the algorithms. By utilizing the simulation
platform, developers can overcome the limitations of real environments and
datasets, enabling fine-grained analysis and evaluation of mainstream SLAM
algorithms in various environments. Experiments conducted in different
environments and with different LIDARs demonstrate the wide applicability and
practicality of our simulation platform. The implementation of the simulation
platform is open-sourced on Github.
