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srl-freiburg / pedsim_ros

Pedestrian simulator powered by the social force model
https://github.com/srl-freiburg/pedsim_ros
BSD 2-Clause "Simplified" License
447 stars 169 forks source link

How to show the robot in the simulator and work with ros navigation stack? #28

Closed tcjcxy30 closed 5 years ago

tcjcxy30 commented 6 years ago

Hi there: First of all, thanks for sharing this great tool for crowd simulation. I am trying to simulate a robot navigating through a human crowd using pedsim, for that I want to use the ros navigation stack with this simulator, and the pictures in the "Readme" seems to be able to do this. So how can I do to use the ros navigation stack package with this simulator?

makokal commented 6 years ago

You can always use the ROS nav stack. The simulator only provides 'dynamic obstacles' and static obstacles. Using the sensors (only point cloud for now) YOu can easily run move_base.

See https://github.com/makokal/socially_normative_navigation/tree/master/snn_launchers for an old starting example