How to use the simulation_reader ?

[Gatsby23]

Hi, I have noticed that the io files have the simulation_reader about the SLAM tests in simulation environment. But I don't know which simulation platform can provide these simulation data, could you give me some hint ？

[jbehley]

This part was related to a custom very basic simulation of a LiDAR sensor. I could upload an example file if needed. But this is not very well maintained code. Thus expect some rough edges.

[Gatsby23]

This part was related to a custom very basic simulation of a LiDAR sensor. I could upload an example file if needed. But this is not very well maintained code. Thus expect some rough edges.

OK, I wanna to see the example, thank you at all. By the way, do you use the airsim or carla to do
the simulation ?