sfchik / pedsim_ros

ROS packages for PedSim (Pedestrian Simulator) based on social force model

Pedestrian Simulator

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A ROS meta package for a pedestrian simulator based on social force model of Helbing et. al. The implementation is based on a modified version of Christian Gloor's libpedsim library which has been extended to include additional behaviors and activities. All visualization is done via Rviz. The package is useful for robot navigation experiments with crowded scenes which are hard to acquire in practice.

Features

• Individual walking using social force model for very large crowds in real time
• Group walking using the extended social force model
• Social activities simulation
• Sensors simulation (point clouds in robot frame for people and walls)
• XML based scene design
• Extensive visualization using Rviz
• Option to connect with gazebo for physics reasoning

Requirements

• ROS with the visualization stack (currently tested on hydro, indigo )
• C++11 compiler
• Qt4
• Eigen3

Dependencies

• (Optional) Our rviz fork with additional costmap visualization colors (jet, hot, etc). Installable from https://github.com/srl-freiburg/rviz.

Installation

cd [workspace]/src
git clone https://github.com/srl-freiburg/pedsim_ros.git
# remaining clones are optional
git clone https://github.com/srl-freiburg/rviz.git
cd ..
catkin build -c

Sample usage

roslaunch pedsim_simulator simple_pedestrians.launch

TODO

• Add additional crowd behaviours
• Scenario build tool (GUI)

Developers

• Billy Okal
• Omar Islas
• Timm Linder

Contributors

• Dizan Vasquez
• Sven Wehner

The package is a work in progress used in research prototyping. Pull requests and/or issues are highly encouraged.