I am running on Ubuntu 16.04, with ROS Kinetic.

Whenever I try the installation step: git submodule update --init --recursive I run in the following error:

`Cloning into '2ndparty/spencer_messages'... Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights and the repository exists. fatal: clone of '[email protected]:spencer-project/spencer_messages.git' into submodule path '2ndparty/spencer_messages' failed`

Even though, I moved forward, and catkin_make, the working space has compiled with no errors.

Whenever I try, roslaunch pedsim_simulator simple_pedestrians.launch , RViz opens but only the limits of the environment open. I have the following error:

[ERROR] [1538608123.222584045]: PluginlibFactory: The plugin for class 'spencer_tracking_rviz_plugin/TrackedPersons' failed to load. Error: According to the loaded plugin descriptions the class spencer_tracking_rviz_plugin/TrackedPersons with base class type rviz::Display does not exist. Declared types are rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu

I am running the melodic version on ubuntu 18.04, using a modified version of small_airport.xml (modified by dividing all sizes and locations by 5). The agents seem to be avoiding the robot at the location that the robot spawns however they are not continuing to avoid the robot as it moves.

Tf is configured correctly and the /robot_position topic reports the correct position, however the agents are still avoiding the (0,0) location that the robot spawns.

with_robot is set to true and robot_mode is 1

Any tips or things I may have missed would be much appreciated.

Hi there, First of all, thanks for sharing this great tool for crowd simulation.

I am trying to simulate a robot navigating through a human crowd using pedsim, for that I ma using the simulated simulated pedsim_point_clouds. However it seems that both the pedsim simulator and the point cloud sensor does not take into account whether an agent might be occluded.

Is there any workaround or anything that I am missing to make it work?

Best regards, Framarbon

Additional features

• Add support for older Gazebo versions (e.g. 7 in kinetic)
• Add Waypoint and Waypoints messages.
• Add waypoints and forces visualization to help debugging and social force model parameters tuning.
• Add parameters for:
  • frame ids
  • actor sdf model file
  • spawning period (for source waypoints)

Bug fixes:

• pedsim_ros message dependency
• dynamic obstacle visualization
• LineObstacleToCells offset
• use angleToQuaternion in poseFrom2DVelocity
• skip agent without waypoints

Hello. When I was using https://github.com/srl-freiburg/pedsim_ros/tree/master/pedsim_gazebo_plugin, there was a bug-like behavior, so I report it.

Watch the video on youtube, the pedestrians are swaying finely up and down. https://youtu.be/iV5yspXesCk I'm not familiar with Gazebo so I'm not sure, but it looks like the pedestrian and the floor are physically interfering with each other. I want to do a simulation with Gazebo and I want to solve this, do you have any solution?
Here's what I've done

takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros$ rosrun pedsim_gazebo_plugin pedsim_to_gazbo_world.py 
>> enter pedsim scenaria name: file_name.xml 
scene1.xml
gazbo world has been generated: /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/worlds/scene1.world
launch file has been generated: /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/launch/scene1.launch
>> after you launch the scenario using pedsim_simulator, launch the generated world using: 
 " $roslaunch pedsim_gazebo_plugin scene1.launch"  
takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros/pedsim_simulator$ roslaunch pedsim_simulator airport_demo.launch airport:=scene1
takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros$ roslaunch pedsim_gazebo_plugin scene1.launch 

Thank you.

this pedsim_gazebo_plugin:

• converts pedsim scenarios to gazebo worlds,
• spawns pedsim agents into gazebo,
• continously updates the poses of the spawned agents

Dear,

I am currently doing research on path planning in human environment and I am interested to use the feature of connection with gazebo to simulate a real world scenario in my university. May I know is there any tutorial provided for the pedsim_ros to connect to gazebo? Thank you.

Best Regards, Sheng Fei

I am using the latest code from the master branch and it appears that the agents do not avoid obstacles as I thought they would, even if I increase the force_obstacle parameter to its max value of 50 and the force_wall parameter to its max value of 10.

I've attached a screen shot when running the simple_pedestrians.launch example after adding an obstacle to the social_contexts.xml file using the following line:

<obstacle x1="14" y1="14" x2="17" y2="17"/>

You can see the obstacle in the screen shot and you can also see pedestrians all over it. Also, changing the force_obstacle parameter using rqt_reconfigure seems to have no effect on where the agents pass over or through the obstacle.

What do I need to do to make the agents avoid obstacles?

Thanks!

Does anyone know if the pedsim simulator assigns a size (e.g. diameter) to the robot or the pedestrians? Or are they treated as points? I ask because I cannot tell by looking at the RViz animations if the pedestrians are actually avoiding the robot or even each other since the animations appear to pass by each other very closely.

Thanks! patrick

Hello there, I am trying to make a sim for p3dx (Pioneer 3dx Robot) in RVIZ such that when going from point A to Goal position it has to avoid a moving pedestrian who may be walking across or just standing in its path so it has to re-plan its trajectory. Could you please tell me how can i use your animated_walking_man marker for this purpose ? I would appreciate if you could reply at the earliest.

Hello Everyone,

I got the following error when I run the airport_demo example (roslaunch pedsim_simulator airport_demo.launch). So, I am not able to visualize the crowds and moving people in rviz.

I am using ROS noetic and Ubuntu 20.04.

Error: OGRE EXCEPTION(5:ItemIdentityException): Cannot find a group named rviz in ResourceGroupManager::isResourceGroupInitialised at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 1916)

I tried to reinstall rviz and libogre-1.9-dev (see this LINK), but it doesn't solve the issue.

Thanks in advance for your help.

Hi! I'm migrating pedsim_ros to ROS2 and looking for people also to contribute. I forked the latest ROS2 PR as the base repo (unfortunately as of now, they are not working out of the box anymore in the newest distro... not even in galactic or foxy is working as well). Since the galactic is reaching the end of life and foxy will be out of support next year, could you open a humble branch in the repo, please?

Thank you so much.

This PR allows to use the pedsim_simulator node with the pedsim_ros package installed via catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install. Using the current master branch, the following error can be seen in the console:

/opt/ros/noetic/lib/pedsim_simulator/pedsim_simulator: error while loading shared libraries: libpedsim.so: cannot open shared object file: No such file or directory

Installation on ROS Melodic was successful and I managed to run all of the launch files. Is there a way to properly resize the obstacle (walls) and pedestrian agent size from the simulator's side? I can resize the walls and obstacles from Gazebo but the agents are floating around while moving.

rviz:

Gazebo:

Hello Team, I am using Ubuntu 18.04 with ROS Melodic. I had similar issues with the spencer_tracking_rviz_plugin. When I clone and build the package everything works fine for me. In fact, pedsim works fine too.

Unfortunately, when I keep working on the pedsim package and others, and after building my workspace, the below error arises

Note:

• I tried rospack find spencer_tracking_rviz_plugin after sourcing the devel workspace and was able to find the plugin, even after receiving errors.
• I even did catkin clean, but no change in the error.

Would you help me with this? Thank you!

Hello,

I have updated the package (minor edits including removing the dependency on spencer_* packages, moving spencer_people_tracking_rviz_plugin to pedsim_rviz_plugin). A lot of the work is borrowed from another branch.

I have successfully compiled this on rolling and galactic. Although the pull-request says eloquent, you might want to make a separate repo for the ROS2 version.