Create a ros melodic environment with this package in the src folder. First source the ros devel/setup file To run use the following commands
python create_scene.py num_of_agents
where num_of_agents is replaced with the number of agents you want to see (dont set it high than 50).
then to visualize the environment run
rosrun rviz rviz
and open the default.rviz config in the rviz folder in this repo