The pedestrian 3D model not spawn

[daleigehhh]

Hi, @zzuxzt I compiled these packages and launch the simulator successfully. But no pedestrian model spawned, I noticed that the ros logger were logging the spawning of the agents without any problem, but no agent ever appear in gazebo, I think maybe it is because I do not have the 3D model of the avatar.

[zzuxzt]

This happens when Gazebo is not completely shut down. Did you try to restart the simulation? Restarting can solve most spawning issues. A 3D model of a pedestrian is already included in this package.

Can you see the pedestrian visualization in Rviz? If not, you may launch an empty Gazebo world without pedestrians.

[daleigehhh]

I read the pedsim_ros code and now I am debugging your code. The visualizer does not appear at all though the launch log said it has been launched successfully, it is weird. The agents spawning phase persists about 5 minutes during launching the eng_hall.xml config and eng_hall.world which is the default option and there is still no pedestrian in the world, besides the gzclient kept inactive during the spawning phase. Here are the whole launching logs. I think the problem maybe happened when spawning the Turtlebot2 base, there were two warnings about the parameters of Kobuki:

1. the Kobuki base does not have RosDebugLevel
2. the Kobuki base does not have update rate and default to 0

[daleigehhh]

The rviz goes like this, the robot spawner has no problem. And it seems the wrapped pedsim_ros works as well, I can see the social forces.

[zzuxzt]

You also need to get our robot_gazebo package to load the Turtlebot2 robot. The detailed usage of our simulator can be found in our drl_vo_nav package. You can do this and run the simulation by following these steps:

cd ~/catkin_ws/src
git clone https://github.com/TempleRAIL/robot_gazebo.git
git clone https://github.com/TempleRAIL/pedsim_ros_with_gazebo.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.sh

roslaunch pedsim_simulator robot.launch
roslaunch robot_gazebo view_navigation.launch

By the way, did you install all the packages for the Turtlebot2? If not, please install them following our drl_vo_nav package.

A GPU is required to make the simulator run fast (especially with our default setting of 34 pedestrians).

PS: If you have trouble configuring your environment, you can also test our simulator using our Singularity container: "drl_vo_container.sif".