Open NamTruongTran0 opened 1 year ago
Hi, sorry for the late reply. The navigation is unfortunately out of the scope of this package. However, I am planning to release some examples using Nav2 in a separate repository in the near future :)
@NamTruongTran0: I saw that you edited your comment with the original asking "The pedsim agents always avoiding the robot while walking. Where can i change this setting? I want that the agent not avoiding the robot."
I had a similar question. My problem is that the agents (from the simulation) do not even see human. I also do not see in change in the social force, when they are near. This leads to the agents colliding with the robot.
Have you fixed this issue? Or maybe @stephenadhi can help solving this?
I have looked at other git issues from the original repo, but those proposed solutions did not work for me: https://github.com/srl-freiburg/pedsim_ros/issues/22 https://github.com/srl-freiburg/pedsim_ros/issues/46 https://github.com/srl-freiburg/pedsim_ros/issues/55 https://github.com/srl-freiburg/pedsim_ros/issues/65
Nevermind, I found the solution to the problem.
In case anyone else encounters this issue, you should consider these things:
Make sure that on the topic /pedsim_simulator/robot_position, the robot position is being published
In the scenario file you have created a robot agent (denoted by type 2), like this:
The waypoints do not seem to matter that much. I am using nav2 for the robot controller and planner and it works even when not considering any of the waypoints set in the scenario file.
This might also be necessary, but I have not tested it: In the config file of the pedsim_simulator package, you need to set the robot_mode (op_mode in the config file) to 0, like this:
pedsim_simulator: ros__parameters: odom_frame_id: "map" <------ (4) base_frame_id: "base_footprint" groups_enabled: true max_robot_speed: 0.3 update_rate: 25.0 simulation_factor: 1.0 op_mode: 0 <------- (3)
Hey Stephen,
thank you so much for your help. I fixed the issue. Now i can start your house example.
do you know which parameter should i change to update the global costmap more frequently? In my video you can see the agent walking from point A to point B but the path is very short thats why the global costmap always mark the path of the agent as an obstacle.
Link to the video: https://streamable.com/f3f3k6
Thank you in advance stephen ;)