Pedestrians shake up and down in pedsim_gazebo_plugin

[takanotume24]

Hello. When I was using https://github.com/srl-freiburg/pedsim_ros/tree/master/pedsim_gazebo_plugin, there was a bug-like behavior, so I report it.

Watch the video on youtube, the pedestrians are swaying finely up and down. https://youtu.be/iV5yspXesCk I'm not familiar with Gazebo so I'm not sure, but it looks like the pedestrian and the floor are physically interfering with each other. I want to do a simulation with Gazebo and I want to solve this, do you have any solution?
Here's what I've done

takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros$ rosrun pedsim_gazebo_plugin pedsim_to_gazbo_world.py 
>> enter pedsim scenaria name: file_name.xml 
scene1.xml
gazbo world has been generated: /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/worlds/scene1.world
launch file has been generated: /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/launch/scene1.launch
>> after you launch the scenario using pedsim_simulator, launch the generated world using: 
 " $roslaunch pedsim_gazebo_plugin scene1.launch"  
takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros/pedsim_simulator$ roslaunch pedsim_simulator airport_demo.launch airport:=scene1
takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros$ roslaunch pedsim_gazebo_plugin scene1.launch 

Thank you.

[makokal]

Could this be an issue with gravity and physics in Gazebo, we haven't seen shaking outside of gazebo

[takanotume24]

I also think they are the cause of this problem. Even in my environment, it is displayed normally in rviz. Doesn't this happen in your environment?

[makokal]

Could this be an issue with gravity and physics in Gazebo, we haven't seen shaking outside of gazebo

[makokal]

I am not able to test gazebo at the moment

[makokal]

Thanks for the PR