Minor improvements

[f-fl0]

Additional features

• Add support for older Gazebo versions (e.g. 7 in kinetic)
• Add Waypoint and Waypoints messages.
• Add waypoints and forces visualization to help debugging and social force model parameters tuning.
• Add parameters for:
  • frame ids
  • actor sdf model file
  • spawning period (for source waypoints)

Bug fixes:

• pedsim_ros message dependency
• dynamic obstacle visualization
• LineObstacleToCells offset
• use angleToQuaternion in poseFrom2DVelocity
• skip agent without waypoints

[makokal]

@f-fl0 Thanks a lot for these fixes and improvements.

[makokal]

Since we do not yet have CI setup, we need to check locally that nothing breaks from these changes. Can you add a GIF or so showing running behavior @f-fl0 cc @tlind

[f-fl0]

Since we do not yet have CI setup, we need to check locally that nothing breaks from these changes. Can you add a GIF or so showing running behavior @f-fl0 cc @tlind

I will try to prepare that asap.

[makokal]

@f-fl0 Thank you for the PR and the changes

[f-fl0]

A bit late but here are some gif showing the simulation with the force and waypoint markers. I noticed a problem with the source/sink force markers: they don't get deleted. I will fix that today.