Does anyone know if the pedsim simulator assigns a size (e.g. diameter) to the robot or the pedestrians? Or are they treated as points? I ask because I cannot tell by looking at the RViz animations if the pedestrians are actually avoiding the robot or even each other since the animations appear to pass by each other very closely.

Thanks!
patrick

Hi,
I am trying to compile the pedsim_ros/pedsim_simulator and I get many problems with boost libraries, e.g.,

from /home/talebpou/repos/svn/monarch/code/trunk/catkin_ws/src/pedsim_ros/pedsim_simulator/src/simulate_diff_drive_robot.cpp:1:
/usr/include/boost/function/function_template.hpp:1006:3: error:   initializing argument 1 of 'boost::function1<R, T1>::result_type boost::function1<R, T1>::operator()(T0) const [with R = void; T0 = boost::shared_ptr<const geometry_msgs::Twist_<std::allocator<void> > >; boost::function1<R, T1>::result_type = void]'

and many more.
I am using ROS hydro on ubuntu 12.04 and my boost version is: 1.48.0.2.
I have been unable to figure out what is wrong.

Thanks a lot in advance for your help.
Zeynab

P.S. I managed to make it compile on ROS indigo.

Dear,

I am currently doing research on path planning in human environment and I am interested to use the feature of connection with gazebo to simulate a real world scenario in my university. May I know is there any tutorial provided for the pedsim_ros to connect to gazebo? Thank you.

Best Regards,
Sheng Fei

Hi there:
First of all, thanks for sharing this great tool for crowd simulation.
I am trying to simulate a robot navigating through a human crowd using pedsim, for that I want to use the ros navigation stack with this simulator, and the pictures in the "Readme" seems to be able to do this. So how can I do to use the ros navigation stack package with this simulator?

Hi,

Thanks for releasing such a useful pedestrian simulation package, it helps me a lot. Recently, I am trying out the pedsim_point_clouds package for simulation, but nothing can be seen in the rviz even after adding the point cloud topics. I tried to troubleshoot and found that the point cloud node is subscribing /spencer/sensors/odom, which I can't see any node publishing the topic. Hence, I suspect something wrong with my use case. May I know the correct step of using the pedsim_point_clouds package? Thank you.

Hello,

Thank you for this awesome simulator. I was wondering if there is a configuration parameter that would enable me to change the maximum velocity for the pedestrians? I am doing some computer vision tests on detecting groups of moving people and it would be helpful to slow down the motion of the simulated people.

Thanks!

I am running on Ubuntu 16.04, with ROS Kinetic.

Whenever I try the installation step: git submodule update --init --recursive I run in the following error:

`Cloning into '2ndparty/spencer_messages'...
Permission denied (publickey).
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.
fatal: clone of '[email protected]:spencer-project/spencer_messages.git' into submodule path '2ndparty/spencer_messages' failed`

Even though, I moved forward, and catkin_make, the working space has compiled with no errors.

Whenever I try, roslaunch pedsim_simulator simple_pedestrians.launch , RViz opens but only the limits of the environment open. I have the following error:

[ERROR] [1538608123.222584045]: PluginlibFactory: The plugin for class 'spencer_tracking_rviz_plugin/TrackedPersons' failed to load. Error: According to the loaded plugin descriptions the class spencer_tracking_rviz_plugin/TrackedPersons with base class type rviz::Display does not exist. Declared types are rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu

I'm not sure what I'm missing, but the actor poses aren't updating in gazebo. I'm using ubuntu16.04, ros kinetic + gazebo9.

In order to bypass the "fatal error: pedsim_msgs/TrackedPersons.h: No such file or directory" issue during catkin_make, I create new CMakeLists.txt and package.xml files by calling:

catkin_create_pkg pedsim_gazebo_plugin gazebo_ros geometry_msgs roscpp rospy gazebo_msgs pedsim_msgs

and copying the contents to the new directory.

After building with catkin_make I run the following:
$ roslaunch pedsim_gazebo_plugin social_contexts.launch
$ roslaunch pedsim_simulator simple_pedestrians.launch

The rviz visualization shows the actors moving, but in gazebo, the actors spawn (as grey boxes) but do not move.

Add support for dynamic_reconfigure to the simulation to tuning parameters

Hi there,
I'm really interested in the Costmap.png below. I tried the commands below, but I couldn't add the costmap in RVIZ.
roslaunch pedsim_simulator simple_pedestrians.launch
roslaunch pedsim_simulator airport_activities.launch

Is there anything that I am missing to make it work?

Best regards

It would be nice to bring back visualizations of the SFM components, using maybe a new rviz plugin or simply marker arrays (but I think this could easily get too heavy)

These could help visually assess motion prediction algorithms

Hi,
I want to know how to enable the robot and also I can see the marker but it's not moving in the simulator. So, if there any documentation or a pointer for how to use the robot to follow a different target location or in the simulator would be helpful. I'm new to the ROS and I'm learning, so if you can point me in the right direction would be helpful for my project.

We need to move the spencer_tracking_msgs and spencer_social_relation_msgs into pedsim_msgs for consistency

As addition to the social force model, add flocking behaviour perhaps inspired by http://dl.acm.org/citation.cfm?id=37406

Is there any option to run the simulation faster than real time? I tried to publish faster time via /clock topic (with use_sim_time = true), but I didn't it running yet.
I am happy about any hints, that might help :).

Hi! I'm migrating pedsim_ros to ROS2 and I would happy to contribute with you. Could you open an eloquent-dev branch in the repo, please?

Thank you so much.

Hi,
I would like to cite the work of this pedestrian simulator, may I know is the following paper the paper I should cite:

Vasquez, Dizan, Billy Okal, and Kai O. Arras. "Inverse reinforcement learning algorithms and features for robot navigation in crowds: an experimental comparison." In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, pp. 1341-1346. IEEE, 2014.

Also may I know the default parameters in PedsimSimulator.cfg the parameters used in the above paper?

Looking forward for your reply. Thanks for the simulator, it helps me a lot.

Best Regards,
Chik

We need more documentation on the main components of the simulator and a getting started kind of guide. Possibilities include:

• simple Doxygen html pages
• wiki on ROS
• wiki on guthub

I'm researching pedestrian dynamics and I'm new with ROS & Rviz, when I execute the launch file(e.g simple_pedestrians.launch) I encounter the empty Rviz window with no object. I would be grateful if you help me with how to use pedsim. (preferably with a sample example)

Thanks

This simulator works pretty well. It would be cool to have a kinetic release. Have you already planned this? I can help if you require any. :)

As the picture show, the information in tracked_persons and in simulator_agent are different. I think the information published by simulator_agent is right.

The tracked_person topic is published in pedsim_visualizer/sim_visualizer.cpp where assign the simulator_agent at line 101-102, the code have no problem and why these two is different?

We need better visualization for simulation elements

• Agents
• Costmaps
• Groups
• Attractions
• Queues

with the following constrains:

• Sufficiently fast (the current markers get slow for many agents)
• Configurable via rviz

An Rviz plugin seems inevitable.

Hello,

Is there documentation anywhere for the scenario parameters? In particular, what are the precise meaning of the dx and dy parameters?

Thanks!

I already posted this to a closed issue. As I don't know if that has been registered, I'll open a new issue...
Are the agents following a certain path planning algorithm? The agents get stuck in more complex environments (e.g. inner corners inside the room). Furthermore, they walk along a wall. That is not such a realistic behavior...Are there any possibilities to solve this?
Thanks for any help/hint :).

Needed with the new drive mechanism

Hi, I was trying to run this on a fresh ROS noetic with melodic-devel branch. Managed to compile it, but getting this error during launching of the launch file. Would kindly need some advice on this. Thanks!

[ WARN] [1603085782.510908291]: WARNING: package://spencer_tracking_rviz_plugin/media/animated_walking_man.mesh is an older format ([MeshSerializer_v1.41]); you should upgrade it as soon as possible using the OgreMeshUpgrade tool.
[ WARN] [1603085782.511277907]: Can't assign material male_base_lambert1 to SubEntity of mesh_person_visual0 because this Material does not exist. Have you forgotten to define it in a .material script?
[ WARN] [1603085782.516801097]: OGRE EXCEPTION(5:ItemIdentityException): Cannot find a group named rviz in ResourceGroupManager::isResourceGroupInitialised at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 1916)
terminate called after throwing an instance of 'Ogre::ItemIdentityException'
  what():  OGRE EXCEPTION(5:ItemIdentityException): Cannot find a group named rviz in ResourceGroupManager::isResourceGroupInitialised at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 1916)
[rviz-5] process has died [pid 14458, exit code -6, cmd /opt/ros/noetic/lib/rviz/rviz -d 

It would be nice to have a switch to enable and disable groups on the fly via dynamic_reconfigure.
This requires additional code to manage groups data and the respective scene elements.

I am using the latest code from the master branch and it appears that the agents do not avoid obstacles as I thought they would, even if I increase the force_obstacle parameter to its max value of 50 and the force_wall parameter to its max value of 10.

I've attached a screen shot when running the simple_pedestrians.launch example after adding an obstacle to the social_contexts.xml file using the following line:

<obstacle x1="14" y1="14" x2="17" y2="17"/>

You can see the obstacle in the screen shot and you can also see pedestrians all over it. Also, changing the force_obstacle parameter using rqt_reconfigure seems to have no effect on where the agents pass over or through the obstacle.

What do I need to do to make the agents avoid obstacles?

Thanks!

Hello guys,
I'm Chitt from Orebro University.

I'm trying to compile the spencer_tracking_rviz_plugin on lunar. (Everything else compiles).
In particular I get some scope resolution issues when the MOC is compiled.
"pedsim_ros/visualization/spencer_tracking_rviz_plugin/CMakeFiles/spencer_tracking_rviz_plugin.dir/spencer_tracking_rviz_plugin_automoc.cpp.o"

A small snippet of the error should probably be enough to understand the issue. If this isn't enough, I can post the whole error.

In file included from /home/chitt/workspace/ros_ws/build/pedsim_ros/visualization/spencer_tracking_rviz_plugin/spencer_tracking_rviz_plugin_automoc.cpp:6:0:
/home/chitt/workspace/ros_ws/build/pedsim_ros/visualization/spencer_tracking_rviz_plugin/spencer_tracking_rviz_plugin_automoc.dir/moc_social_activit_CTUXWLMTHHTXP4.cpp:68:27: error: ‘ros::message_traits::spencer_tracking_rviz_plugin’ has not been declared
 void ros::message_traits::spencer_tracking_rviz_plugin::SocialActivitiesDisplay::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
                           ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/chitt/workspace/ros_ws/build/pedsim_ros/visualization/spencer_tracking_rviz_plugin/spencer_tracking_rviz_plugin_automoc.dir/moc_social_activit_CTUXWLMTHHTXP4.cpp: In function ‘void qt_static_metacall(QObject*, QMetaObject::Call, int, void**)’:
/home/chitt/workspace/ros_ws/build/pedsim_ros/visualization/spencer_tracking_rviz_plugin/spencer_tracking_rviz_plugin_automoc.dir/moc_social_activit_CTUXWLMTHHTXP4.cpp:71:9: error: ‘SocialActivitiesDisplay’ was not declared in this scope
         SocialActivitiesDisplay *_t = static_cast<SocialActivitiesDisplay *>(_o);

Could you help me out on this?

The current version I'm compiling is on my fork of the repository @ github.com/ksatyaki/pedsim_ros

The code for now comments out 4 lines for group forces in 'simulater.cpp', and also these forces are not accumulated to the force vector when computing the final force.Since I want to observe the group formation with these forces enabled, so I wonder is there a easy way to use these forces?

Is there any way to create new scenario xml files?
It seems that they are generated by SGDiCoP but I can't google it. What is SGDiCoP?

Add waiting queues to the simulation (both model and visualization)

Should allow to model things like pedestrians standing in a line

I am running the melodic version on ubuntu 18.04, using a modified version of small_airport.xml (modified by dividing all sizes and locations by 5). The agents seem to be avoiding the robot at the location that the robot spawns however they are not continuing to avoid the robot as it moves.

Tf is configured correctly and the /robot_position topic reports the correct position, however the agents are still avoiding the (0,0) location that the robot spawns.

with_robot is set to true and robot_mode is 1

Any tips or things I may have missed would be much appreciated.

Dear pedsim_ros team,

Thanks for this amazing simulator. Which parameters should I change in order to ensure that the pedestrians keep a larger distance among each other?

Best,
Bruno

Hi:
I use the pedsim_gazebo_plugin to use Gazebo simulator. However, the robot in the gazebo doesn't move while the robot in rviz moving. My settings are as follow,

1. In file "scenario.xml" add a robot with type "0";
2. I run the pedsim_simulator, jackal_description, and robot_control, and then run the pedsim_gazebo_plugin.
3. The initial position of the robot in Gazebo and rviz is right.
4. When I publish the cmd_vel to the topic "/pedbot/control/cmd_vel", the robot in rviz moves but in gazebo it not. So the laser point never change in rviz.

How can I fix it?

Hi, are there any exposed functions that would let me restart the simulation without killing and relaunching? I'm looking to implementing an openaigym-like interface and want to restart the simulation for each episode.

Hi, I'm thinking that by modifying the code, like this master...takanotume24:fix-gazebo-model-direction, we can solve the problem where the 3D model always only goes in a certain direction.
However, if you try to build this code, I will get the following error.

(base) takuya@takuya-HP-Z420-Workstation:~/catkin_ws/src$ catkin build pedsim_gazebo_plugin 
-----------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/melodic
Workspace:                   /home/takuya/catkin_ws
-----------------------------------------------------------
Build Space:        [exists] /home/takuya/catkin_ws/build
Devel Space:        [exists] /home/takuya/catkin_ws/devel
Install Space:      [unused] /home/takuya/catkin_ws/install
Log Space:         [missing] /home/takuya/catkin_ws/logs
Source Space:       [exists] /home/takuya/catkin_ws/src
DESTDIR:            [unused] None
-----------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------
[build] Found '33' packages in 0.0 seconds.                                            
[build] Updating package table.                                                        
Starting  >>> catkin_tools_prebuild                                                    
Finished  <<< catkin_tools_prebuild                [ 2.6 seconds ]                     
Starting  >>> pedsim_msgs                                                              
Finished  <<< pedsim_msgs                          [ 5.0 seconds ]                     
Starting  >>> pedsim_utils                                                             
Finished  <<< pedsim_utils                         [ 5.0 seconds ]                     
Starting  >>> pedsim_gazebo_plugin                                                     
_______________________________________________________________________________________
Errors     << pedsim_gazebo_plugin:cmake /home/takuya/catkin_ws/logs/pedsim_gazebo_plugin/build.cmake.000.log
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if):
  Policy CMP0054 is not set: Only interpret if() arguments as variables or
  keywords when unquoted.  Run "cmake --help-policy CMP0054" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.

  Quoted variables like "chrono" will no longer be dereferenced when the
  policy is set to NEW.  Since the policy is not set the OLD behavior will be
  used.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
  CMakeLists.txt:22 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:61 (add_library):
  Policy CMP0028 is not set: Double colon in target name means ALIAS or
  IMPORTED target.  Run "cmake --help-policy CMP0028" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  Target "ActorPosesPlugin" links to target "UUID::UUID" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:61 (add_library):
  Policy CMP0028 is not set: Double colon in target name means ALIAS or
  IMPORTED target.  Run "cmake --help-policy CMP0028" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  Target "ActorPosesPlugin" links to target "UUID::UUID" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Error at /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/CMakeLists.txt:62 (target_link_libraries):
  Error evaluating generator expression:

    $<TARGET_PROPERTY:UUID::UUID,INTERFACE_INCLUDE_DIRECTORIES>

  Target "UUID::UUID" not found.


CMake Error:
  Error evaluating generator expression:

    $<TARGET_PROPERTY:UUID::UUID,INTERFACE_INCLUDE_DIRECTORIES>

  Target "UUID::UUID" not found.


CMake Error at /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/CMakeLists.txt:62 (target_link_libraries):
  Error evaluating generator expression:

    $<TARGET_PROPERTY:UUID::UUID,INTERFACE_INCLUDE_DIRECTORIES>

  Target "UUID::UUID" not found.


cd /home/takuya/catkin_ws/build/pedsim_gazebo_plugin; catkin build --get-env pedsim_gazebo_plugin | catkin env -si  /usr/bin/cmake /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/takuya/catkin_ws/devel/.private/pedsim_gazebo_plugin -DCMAKE_INSTALL_PREFIX=/home/takuya/catkin_ws/install; cd -
.......................................................................................
Failed     << pedsim_gazebo_plugin:cmake           [ Exited with code 1 ]              
Failed    <<< pedsim_gazebo_plugin                 [ 5.2 seconds ]                     
[build] Summary: 3 of 4 packages succeeded.                                            
[build]   Ignored:   30 packages were skipped or are blacklisted.                      
[build]   Warnings:  None.                                                             
[build]   Abandoned: None.                                                             
[build]   Failed:    1 packages failed.                                                
[build] Runtime: 17.8 seconds total.                                                   
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Where do you think I should fix it?
And do you think this fix will make the model face the right way?
Thank you.

We need lots of cleanup and all numbers to go into config files loaded via launch files

I am trying to use only Gazebo for both simulation and visualization, and I hope to remove the Rviz since it is not intuitive creating an ideal scenario. Now I've succeed to launch only Gazebo during the process, but ped-sim simulator published the position due to the Rviz scenario. Since the Gazebo and Rviz have different display patterns in reading the same scenario file. What suggestions to remove Rviz and use Gazebo for the purposes. Thanks!

Hi, all
I have been trying to navigate pedsim_ros built-in diff-robot in environment created pedsim_similator
I have been able to navigate robot to desirable goal by navigation stack:

• I have recorded and placed at https://www.youtube.com/watch?v=d6atQ8QfVFs

But as you seen, robot can't avoid obstacles (men) because I think that local costmap didn't update obstacles
To update obstacles to local costmap, I have done as following:

• I don't use static map for global map
• In local_costmap_params.yaml, I place two layers obstacle_layer and inflation_layer, obstacle_layer updated from pedsim_people_sensor/point_cloud_local topic:

   plugins:
     - {name: obstacle_layer,          type: "costmap_2d::ObstacleLayer"}
     - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

   obstacle_layer:
     observation_sources: bump
     bump: {data_type: PointCloud , sensor_frame: odom, topic: pedsim_people_sensor/point_cloud_local, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstacle_height: 3 }

Hint: Pls view full source code at: https://github.com/AMRobots/pedsim_teb

• I checked pedsim_people_sensor/point_cloud_local topic, it is ok and can view it in rviz

--
I already have tried to solve this issue by:

• Method 1: set min_obstacle_height to 0.0 cm as suggestion at here
• Method 2: convert pedsim_people_sensor/point_cloud_local(PointCloud) to PointCloud2 (by point_cloud_converter package), then convert PointCloud2 to LaserScan (by pointcloud_to_laserscan package), finally use LaserScan to update local costmap

With two methods I failed.
I don't know misunderstand or make mistakes at any place, pls suggest me the way to fix it.

Hello,
I've successfully spawned agents in gazebo where agents now are in shape of box. So i'm trying to make it look like a real human. Following attempts has been made but no success:

In actor_model.sdf file

• use the comment-out lines, but i see no model://pedsim_gazebo_plugin/meshes/actor_model.obj in my workspace
• use other mesh file like < walking person > from gazebo, but either i got error GazeboRosApiPlugin SpawnModel Failure: input xml format not recognized
  or the gazebo will be freezed for a moment then still no human shown in gazebo, even though in terminal i see the successfully spawned actor message

Would be great if anyone can give me a hint,
thx in advance

I am runing Ubuntu 18.04 with Melodic and the pedsim_ros master branch. I am running with a robot enabled using a modified small_airport scenario with 5 times less people and 10 times less in all dimensions.

[pedsim_simulator-1] process has died [pid 136, exit code -11

The above line of text was spit out along with this warning several times before crashing
[ WARN] [1589400517.323722476, 80.592000000]: Covariance matrix is not positive (semi-)definite in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): Matrix3(0, 0, 0, 0, 0, 0, 0, 0, 0)

Hi there,
First of all, thanks for sharing this great tool for crowd simulation.

I am trying to simulate a robot navigating through a human crowd using pedsim, for that I ma using the simulated simulated pedsim_point_clouds. However it seems that both the pedsim simulator and the point cloud sensor does not take into account whether an agent might be occluded.

Is there any workaround or anything that I am missing to make it work?

Best regards,
Framarbon

When I added a turtlebot to the gazebo world generated by pedsim_ros, I found that these people were not able to see the robot and collide with the robot. The pedsim_simulator has known the position of the robot in the gazebo world.

Hello.
When I was using https://github.com/srl-freiburg/pedsim_ros/tree/master/pedsim_gazebo_plugin, there was a bug-like behavior, so I report it.

Watch the video on youtube, the pedestrians are swaying finely up and down. https://youtu.be/iV5yspXesCk
I'm not familiar with Gazebo so I'm not sure, but it looks like the pedestrian and the floor are physically interfering with each other.
I want to do a simulation with Gazebo and I want to solve this, do you have any solution?
Here's what I've done

takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros$ rosrun pedsim_gazebo_plugin pedsim_to_gazbo_world.py 
>> enter pedsim scenaria name: file_name.xml 
scene1.xml
gazbo world has been generated: /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/worlds/scene1.world
launch file has been generated: /home/takuya/catkin_ws/src/pedsim_ros/pedsim_gazebo_plugin/launch/scene1.launch
>> after you launch the scenario using pedsim_simulator, launch the generated world using: 
 " $roslaunch pedsim_gazebo_plugin scene1.launch"  
takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros/pedsim_simulator$ roslaunch pedsim_simulator airport_demo.launch airport:=scene1
takuya@takuya-HP-ZBook-Studio-G3:~/catkin_ws/src/pedsim_ros$ roslaunch pedsim_gazebo_plugin scene1.launch 

Thank you.

Hello there,
I am trying to make a sim for p3dx (Pioneer 3dx Robot) in RVIZ such that when going from point A to Goal position it has to avoid a moving pedestrian who may be walking across or just standing in its path so it has to re-plan its trajectory. Could you please tell me how can i use your animated_walking_man marker for this purpose ?
I would appreciate if you could reply at the earliest.

Now that Qt5 is the main version used in rvizand related tools (starting with kinecit), we should think about having support for both qt4 and qt5 or decide on one.

We can also take advantage of the move to cleanup many dangling Qt pieces in the simulator code. The key affected areas are:

• Elements (agent, agent cluster, agent group, waypoint, waiting queue, obstacle, scenario element, queueing waypoint, area waypoint)
• Forces (all)
• Planners (all)
• Config (relies on signals to propagate parameter changes)

Hi, I have problems. I don't have an idea to import your code on matlab. thanks for help.