Pedestrian Simulator

This repository implements a pedestrian simulator based on the social forces implementation of libpedsim. It features

• Pedestrian spawn/goal locations encoded in xml format
• Static obstacles that the pedestrians react to can be configured
• Support for uncertain pedestrian dynamics (Gaussian or Mixture of Gaussian)
• Support for ROS/ROS2

Disclaimer: This is an internal package used for research purposes. The implementation was not designed to share and has not been documented in detail. Please use with care.

Installation

Clone dependencies from catkin_ws/src

git clone https://github.com/oscardegroot/ros_tools.git
git clone https://github.com/oscardegroot/pedsim_original.git
git clone https://github.com/oscardegroot/asr_rapidxml.git

Clone this repo

git clone https://github.com/oscardegroot/pedestrian_simulator.git

Note: To use ROS2, run python3 switch_to_ros.py 2 in the base folder of pedestrian_simulator and ros_tools.

Install dependencies from catkin_ws

rosdep install --from-paths src --ignore-src -r -y

Build with

catkin build pedestrian_simulator

Usage

Pedestrian scenarios are in pedestrian_simulator/scenarios/.

To launch, use

roslaunch pedestrian_simulator ros1_simulation.launch pedestrian_scenario:=random_social/8_corridor.xml

Example Simulation:

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License

This project is licensed under the Apache 2.0 license - see the LICENSE file for details.