`Pedestrian Simulator`

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.

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.

argenos/pedsim_ros

Pedestrian Simulator