Integration with the Pedestrian Simulator PedSim Sample Clauses

Integration with the Pedestrian Simulator PedSim. Simulating realistic pedestrian motion behaviors is a research topic of its own. Here, we use the publicly available PedSim library8, which simulates pedestrian crowd behaviors using a social force model from behavioral sciences [11]. We wrapped the library into a ROS node and added an RViz-based visualization of persons and obstacles using visualization markers (visible in Fig. 13, right). The positions of the simulated pedestrians are published as TrackedPersons messages, which can serve as a groundtruth to evaluate tracking performance (see Sec. 4.5). A separate converter node then sends these positions to Gazebo, where they are used to position 3D meshes as described in the previous section.
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