Menge: https://github.com/MengeCrowdSim/Menge. Menge is an open framework for crowd simulation. In this simulation, the original menge lib is modified to satisfy the scenario for rmf project.
- Please use the following ignition source branch, if you are going to use ignition-gazebo plugin.
repositories:
ign-cmake:
type: git
url: https://github.com/ignitionrobotics/ign-cmake
version: ign-cmake2
ign-common:
type: git
url: https://github.com/ignitionrobotics/ign-common
version: ign-common3
ign-fuel-tools:
type: git
url: https://github.com/ignitionrobotics/ign-fuel-tools
version: ign-fuel-tools4
ign-gazebo:
type: git
url: https://github.com/ignitionrobotics/ign-gazebo
version: master
ign-gui:
type: git
url: https://github.com/ignitionrobotics/ign-gui
version: master
ign-launch:
type: git
url: https://github.com/ignitionrobotics/ign-launch
version: master
ign-math:
type: git
url: https://github.com/ignitionrobotics/ign-math
version: ign-math6
ign-msgs:
type: git
url: https://github.com/ignitionrobotics/ign-msgs
version: ign-msgs5
ign-physics:
type: git
url: https://github.com/ignitionrobotics/ign-physics
version: ign-physics2
ign-plugin:
type: git
url: https://github.com/ignitionrobotics/ign-plugin
version: dlopen_exception
ign-rendering:
type: git
url: https://github.com/ignitionrobotics/ign-rendering
version: master
ign-sensors:
type: git
url: https://github.com/ignitionrobotics/ign-sensors
version: master
ign-tools:
type: git
url: https://github.com/ignitionrobotics/ign-tools
version: ign-tools1
ign-transport:
type: git
url: https://github.com/ignitionrobotics/ign-transport
version: ign-transport8
sdformat:
type: git
url: https://github.com/osrf/sdformat
version: sdf9
-
Manually modify
Actor.cc
file in sdformat9. Please check the PR forActor.cc
in https://github.com/osrf/sdformat/pull/301/files. This PR had been merged into sdf8 but may not be merged into sdf9 yet. If not, you will need to manually modify all the copy constructor in Actor.cc. -
Menge dependencies: The core lib for meng is at https://github.com/FloodShao/menge_core.git to make menge possible be compiled with colcon.
- Compile ignition package in work space
ignition_ws
after modified theActor.cc
in sdf9 - In crowd simulation work space
dev_ws
. Download the repositories file "crowd_simulation_plugin.yaml" in the repo, and proceed:
vcs import src < ./crowd_simulation_plugin.yaml
- Colcon compile packages as following order:
colcon build --packages-select menge
colcon build --packages-select crowd_simulation_common
colcon build --packages-select crowd_simulation_gazebo
colcon build --packages-select crowd_simulation_ign
- source environment
source ~/ignition_ws/install/setup.bash
source ~/dev_ws/inatll/setup.bash
- for gazebo plugin
cd ~/dev_ws/src/crowd_simulation_gazebo/test/crowd_simulation/show_and_tell/
ros2 launch office_launch.launch
- for ignition-gazebo plugin
cd ~/dev_ws/src/crowd_simulation_ign/test/crowd_simulation/test_world/
ros2 launch test_world.launch.xml
The default engine for ignition is "orge".
If you have the nvidia graphics, remember to change the <engine>
tag in test_world/test.world
to orge2.