templerail/pedsim_ros_with_gazebo

Pedestrian ROS simulator with Gazebo and differential wheeled robots

pedsim_ros_with_gazebo's Issues

How to change the World and Agents

Hello, I have been having problem with

1. Where to change in order to change the world file
2. Change pedsim agents spawn location
3. Change agent groups (I want to group them differently)
4. Change agents models (I want some agent to represent human, some animal, some other robots)
5. Change agent speeds (I want to make them move in different speeds)
6. Change agents patrol positions

I have checked the references repository however inside references repository link for documentation is broken, so I am unable to find solution.

Any direction to where to look and what to change/fix would be great help

Thank you beforehand

Edit 1:

I have read solved issues, I saw that we need to change the scenario file with .xml to change number of agent, their spawn positions, their grouping behavior and patrol positions (I think, if I am mistaken please fix).

I saw that there was a tutorial link however it seem it is broken and not working -> pedsim documentation

Something I can not understand，Please your reply～

1. Do I need to write the.xml under /src/pedsim_ros_with_gazebo/pedsim_simulator/scenarios folder manually? If I want to add my own world to test the algorithm?
   Is the.xml file written yourself, or is it automatically generated by some method?

2. If I want to define my own world, do I need to put the.xml file in the corresponding location before running sh run_drl_vo_policy_training_desktop.sh ~/drl_vo_runs? Then the program will automatically generate the corresponding.world and.launch files and call them？

ROS2 version

Is there a ROS2 version of this is under developing?

If not, could someone tell me which modifications need to be made in order to run this in ROS2 Humble?