Introduction

This project used for bridging pedsim simulator and teb_local_planner

Using

Install deps

sudo apt install ros-melodic-costmap-converter

Create workspace

cd
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/AMRobots/pedsim_teb.git
wstool init
wstool merge ./pedsim_teb/install/pedsim_teb.rosinstall
wstool update

Build

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Try it out without mapping and navigation

Directly convert agents from pedim to teb_local_planner's obstacles by convert_pedsim_env_to_teb node:

$ roslaunch pedsim_teb pedsim_teb_no_mapping.launch

Try it out with navigation

$ roslaunch pedsim_teb pedsim_teb.launch