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Crowd Simulation with Menge in ROS Gazebo

Posted at 2020-12

Environment

  • Ubuntu 16.04
  • python2
  • ROS Kinect

How to install

  1. Download special gazebo and sdformat from source.

  2. Install gazebo dependency following the order .

  1. build Gazebo from source

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    mkdir build
    cd build
    cmake ..
    make -j
    make install

  2. build Menge from source

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    cd projects/g++
    mkdir build
    cmake -DCMAKE_BUILD_TYPE=Debug ..
    make -j
    make install

  3. catkin make gazebo_menge from source

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    cd catkin_ws
    catkin_make

  4. build new version turtlebot package for Gazebo 8 from source

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cd catkin_ws
catkin_make

How to run

  1. start roscore

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    roscore

  2. modify env_setup.sh to make menge and gazebo consistance. After that

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    bash env_setup.sh

  3. start gazebo_menge, which define the menge setup

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    roslaunch menge_gazebo_worlds turtlebot.launch

  4. create a turtlebot and visualize Gazebo

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    roslaunch menge_gazebo_worlds start_bot.launch