floodshao / crowd_simulation Goto Github PK

Hello @FloodShao ,
I am using crowd simulation with a nav2 robot to see how a robot behave when it detects the moving crowd.
Having added the object markers, i realized that, the crowd is considered as if an object of very small radius.
Even increasing 'r' in agent profile is not helping.
https://github.com/MengeCrowdSim/Menge/blob/master/doc/mengeDetails/sceneSpec.md#:~:text=r%3A%20in%20%25Menge%2C%20agents%20are%20largely%20modeled%20as%20circular%20disks.%20This%20is%20the%20radius%20of%20that%20disk.
Regards,

The realtime factor is related to the menge simulation rate (the agent movement update rate, this step will also update the agent animation), which is able to set in the plugin parameter.
Under the same agent number (25 total)
So when the menge simulation rate is 0.1s, ign: around 100%, gazebo: 0.80.
when the menge simulation rate is 0.01s, ign: around 78%, gazebo: 0.69.
Under the simulation rate of 0.01s:
only 2 agents: ign: around 82%, gazebo: 92%.
So I was wandering why is that…. and found that.
the gazebo plugin is using Kong Peng’s original structure, where he uses a template class of a functions, so in this logic, the code only iterate the database once, and the ptr is stored in that template class, no need to search again.
in ign plugin I was written on the simplest logic, to search the database for each update iteration. I think this can be optimized.

Currently in rmf project, the gazebo-9 is used which uses the data structure of ignition::math::v4, will the ignition-gazebo is expected to use the latest ignition::math::v6. Currently the two versions are sharing the same common interface.

Task:
isolate the ignition::math interface from crowd_simulation_common, and made modifications of related APIs.

History problem.
The gazebo plugin is referencing the previous crowd simulation, as well as the update part.
The ignition plugin is a bit different from gazebo version. From the current simulation result, the ignition version should be more stable. Modify the gazebo version.

When applying the ignition plugin, every update iteration, the models are refreshed, looks like the world is twinkling...

Although no idea what's happening there.

Hi @FloodShao, this is a really interesting work. I just wanted to ask you about how you generated this file CmakeLists.txt? I mean what is the procedure to generate CmakeLists.txt for ignition plugins? Also, how do you generate the .so files required to load the ignition plugins?

Thanks,

In ignition, some actors set (0, 0, 0) at the waist, while some actors set (0, 0, 0) at the foot.
Add the actor initial position tag to set the original pose for actors