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TempleRAIL / pedsim_ros_with_gazebo

Pedestrian ROS simulator with Gazebo and differential wheeled robots
https://doi.org/10.1109/TRO.2023.3257549
BSD 2-Clause "Simplified" License
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Issues arising after creating a new simulation environment(.world and .xml) #8

Open hmyooo opened 1 week ago

hmyooo commented 1 week ago

Hello, thank you very much for your work. Your project has been a great inspiration to me. However, I have a question for you. I created a world environment and wrote an XML file based on the senior file, but I removed the obstacle information. In the end, the effect of the program was that the pedestrians couldn't move. May I ask what relationship exists between the pedestrians' movement and the various parameters in this file? Are there any specific requirements for the parameters in this file? I look forward to your reply very much. Wish you all the best.

zzuxzt commented 1 week ago

Make sure the scenario XML file is matched with your Gazebo world file. You also need to define the number of pedestrians, their start positions, and their approximate waypoints in XML. If there are obstacles in the XML file, then there will be social forces between pedestrians and obstacles.

hmyooo commented 5 days ago

Make sure the scenario XML file is matched with your Gazebo world file. You also need to define the number of pedestrians, their start positions, and their approximate waypoints in XML. If there are obstacles in the XML file, then there will be social forces between pedestrians and obstacles.

Thank you very much for your reply. I want to confirm one thing. There is no obstacle information in the XML file I wrote now, but the pedestrian cannot move. Is it because the waypoint setting does not match the current environment rather than because there is no obstacle information (maybe because I used the waypoint in the existing XML)? Is the waypoint setting similar to the local target point of a person? Does it have certain preferences? If the pedestrian reaches the target point, will it disappear? Another question is, how to get the obstacle information in XML from the obstacle information in the world file. Looking forward to your reply! Wish you all the best!

zzuxzt commented 3 days ago

In theory, the social force model is still valid even without static obstacles. I guess the reason is that the waypoints don't match the environment. But in general, the environment should be closed on all sides. I suggest you create a super large open square environment by adding walls on all four sides to simulate a real open environment.

The waypoints are the goal points for the pedestrians in the global coordinate frame (or the world environment frame), which is consistent with the obstacle coordinates. Pedestrians will walk around these waypoints repeatedly if there are more than two waypoints.

I usually manually create the XML file first and then generate the Gazebo world file based on the XML file using the pedsim_gazebo_plugin package.