Pedestrian Simulator

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ROS packages for a 2D pedestrian simulator based on social force model of Helbing et. al. The implementation is based on an extended version of Christian Gloor's libpedsim library which has been extended to include additional behaviors and activities. This packages is useful for robot navigation experiments with crowded scenes which are hard to acquire in practice.

Features

• Individual walking using social force model for very large crowds in real time
• Group walking using the extended social force model
• Social activities simulation
• Sensors simulation (point clouds in robot frame for people and walls)
• XML based scene design
• Extensive visualization using Rviz
• Option to connect with gazebo for physics reasoning

Requirements

• ROS2 (currently tested on humble). `
• C++14 compiler

Installation

This installation guide is for ROS2. For ROS1 please check out the ROS1 branches in the official repo.

cd [workspace]/src
git clone -b ros2 https://github.com/srl-freiburg/
colcon build

Sample usage with Turtlebot3

ros2 launch pedsim_gazebo_plugin gazebo_tb3_house_demo_launch.py

Licence

The core libpedsim is licensed under LGPL. The ROS integration and extensions are licensed under BSD.

Developers

• Billy Okal
• Timm Linder

Contributors

• Dizan Vasquez
• Sven Wehner
• Omar Islas
• Luigi Palmieri
• Jonatan Gines Clavero
• Chittaranjan Srinivas Swaminathan
• Stephen Adhisaputra

The package is a work in progress mainly used in research prototyping. Pull requests and/or issues are highly encouraged.

Acknowledgements

These packages have been developed in part during the EU FP7 project SPENCER