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marinaKollmitz / human_aware_navigation

The human_aware_navigation repository includes ROS packages to enable the planning of navigation paths that take human comfort into account
BSD 2-Clause "Simplified" License
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questions about ‘social_nav_simulation’ #5

Closed CodeToPoem closed 4 years ago

CodeToPoem commented 5 years ago

Hi!

I have questions about how to control people to move in Gazebo simulation，which makes it easy to test the planner in the dynamic situation.

ps: the people model is set like this in launch files，

marinaKollmitz commented 5 years ago

Hi,

unfortunately I don't know any good way to control people in the Gazebo simulation. That is why I used the fake people detection node which simulates a detected person walking on a line. For testing I also used to joystick the robot around and recorded the robot poses and afterwards played them back as fake people detections. Like this you can simulate a person walking along some arbitrary path. You can generally try to translate a keyboard or joystick input to simulated people poses, but I did not implement anything like that. Finally, I saw that the v-rep simulator has some build in people simulation where you can make them walk along a path. Maybe that would be interesting for you?

Best,

Marina

CodeToPoem commented 5 years ago

Thanks for advice, and I will learn about the v-rep simulator recently.

And I am using a simulated turtlebot for people simulation in player stage and it works.