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https://github.com/srl-freiburg/pedsim_ros
Pedestrian simulator powered by the social force model
https://github.com/srl-freiburg/pedsim_ros
crowd pedestrian pedsim ros simulation-environment social-force-model social-navigation
Last synced: about 1 month ago
JSON representation
Pedestrian simulator powered by the social force model
- Host: GitHub
- URL: https://github.com/srl-freiburg/pedsim_ros
- Owner: srl-freiburg
- License: bsd-2-clause
- Created: 2014-02-19T14:49:36.000Z (over 10 years ago)
- Default Branch: master
- Last Pushed: 2023-08-07T16:07:43.000Z (10 months ago)
- Last Synced: 2024-02-04T12:17:58.007Z (4 months ago)
- Topics: crowd, pedestrian, pedsim, ros, simulation-environment, social-force-model, social-navigation
- Language: C++
- Homepage: https://github.com/srl-freiburg/pedsim_ros
- Size: 6.91 MB
- Stars: 420
- Watchers: 16
- Forks: 161
- Open Issues: 32
-
Metadata Files:
- Readme: README.md
- Changelog: History.md
- License: LICENSE
Lists
- awesome-robotic-tooling - pedsim_ros - Pedestrian simulator powered by the social force model for Gazebo. (Simulation / Version Control)
- awesome-robotic-tooling - pedsim_ros - Pedestrian simulator powered by the social force model for Gazebo (Simulation / Calibration and Transformation)
- awesome-robotic-tooling - pedsim_ros - Pedestrian simulator powered by the social force model for Gazebo. (Simulation / Version Control)
- awesome-mobile-robotics - Pedestrian Simulator
README
# Pedestrian Simulator
| 
ROS packages for a 2D pedestrian simulator based on social force
model of [Helbing et. al](http://arxiv.org/pdf/cond-mat/9805244.pdf). The implementation is based on an extended version of Christian Gloor's [libpedsim](http://pedsim.silmaril.org/) 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
- ROS with the visualization stack (currently tested on `hydro`, `indigo`, `kinetic` ). For melodic, see the branch `melodic-dev`
- C++11 compiler
### Installation
The default version is now `melodic`. For kinetic please check out the branch `kinetic` which still depends on Qt4.
```
cd [workspace]/src
git clone https://github.com/srl-freiburg/pedsim_ros.git
cd pedsim_ros
git submodule update --init --recursive
cd ../..
catkin build -c # or catkin_make
```
### Sample usage
```
roslaunch pedsim_simulator simple_pedestrians.launch
```
### 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
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](spencer.eu)