It is a seperated package to insert walking/standing/sitting humans inside gazebo environment. This package is Adapted from the servicesim package which developed by the OpenSourceRoboticsFoundation OSRF. To use this package you need to specify:
- The xy-coordinates for each sitting human and his/her direction (yaw angle). This can be done inside sitting_human_poses.erb file
- The xy-coordinates for the standing areas (at which standing human will be inserted), and the number of the standing human per each standing area. This can be done inside the standing_areas.erb file.
- The trajectories for walking people in terms of xy-waypoints, the number of human that follow each trajectory, and the velocity of the walking human. This can be done inside the walking_trajectories.erb file. After compiling the actor_sim package, and specifing the required variables inside the corresponding files, the final code for the humans can be generated using this command
$ cd src/actor_sim/worlds/actor_world_files
$ erb actor_world_generator.erb >> ../actors_world.worldthen you can test the world that is generated by the actor_sim pkg by launching the actors_world.launch file
roslaunch actor_sim actors_world.launch