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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
460 stars 170 forks source link

Is the robot not included in the social force model? #46

Closed zzuxzt closed 3 years ago

zzuxzt commented 4 years ago

When I added a turtlebot to the gazebo world generated by pedsim_ros, I found that these people were not able to see the robot and collide with the robot. The pedsim_simulator has known the position of the robot in the gazebo world.

jginesclavero commented 4 years ago

Hi @zzuxzt! I just discover how to include the robot in the social force model. You must change the "robot_mode" param by "0" in the launcher. In addition to that, pedsim_simulator uses the TF Tree to know the position of the robot in the global_frame.

zzuxzt commented 4 years ago

@jginesclavero Thank you for you help. I've solved it.

takanotume24 commented 4 years ago

Hi there. I too would like to add Turtlebot3 to Gazebo. If you don't mind, could you give me some specifics on how to do that?