onlytailei / gym_ped_sim Goto Github PK

Hi, Tailei!
Firstly thanks for your wonderful job.
When I lauch the defult.launch with a maze.world, I find that the actor can walk through the wall of the maze and the laser cann't detect the body neither. The pedestrains are like the air.
So how could I prohibit the pedestrians walk through the wall?
Thanks for any suggestion!

Hey,
I clone your code to my compute,and I find a place in "actor_plugin/src/ActorPlugin_ros.cc"
that make me puzzled.In 170 row, you user"diffDirection = diff.Normalize()" to get the direction of "diff",however, Normalize()function will make diff be a unit. I think this may influence the computation of scocial force. The Normalize() source code is below.
By the way, when I use social force model to Simulate human behavior, I find in complex enviroment, such as many actors, it's diffcult to completely avoid collision ..Do you find similar problem in your experiment?

/// \brief Normalize the vector length
/// \return unit length vector
public: Vector3 Normalize()
{
T d = this->Length();

    if (!equal<T>(d, static_cast<T>(0.0)))
    {
      this->data[0] /= d;
      this->data[1] /= d;
      this->data[2] /= d;
    }

    return *this;
  }

Hi Lei Tai,

During the installation I've faced with the following problem.

fatal error: data_collection/DataCollectionService.h: No such file or directory
...
/home/coh/condatest4/devel/.private/data_collection/include/data_collection/DataCollectionServiceRequest.h:5:0: error: unterminated #ifndef #ifndef DATA_COLLECTION_MESSAGE_DATACOLLECTIONSERVICEREQUEST_H

If any suggestion, please let me know.

Hi guys,
In case anyone using gazebo 9 you will have an error during compile about < no gzmath.hh > found.
Just switch to gazebo 8 it will work.
And thanks for the package!

I followed all the instruction you provided on the main page of the repository. When I ran catkin_make in my workspace, I received such error:

• fatal error: data_collection/DataCollectionService.h: No such file or directory

as well as:

• fatal error: actor_services/SetPose.h: No such file or directory
  compilation terminated.

Maybe this error could be the cause of the ones above?

Warnings << turtlebot3_gazebo:cmake /home/lukas/catkin_ws/logs/turtlebot3_gazebo/build.cmake.001.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
'gazebo_LIBRARIES' is defined.

Thank you!

Hi lei
thx for your wonderful job for this interface. I meet a problem of building actor_plugin, when i use catkin build, it says
Errors << actor_plugin:make /home/yu/zxy/catkin_ws/logs/actor_plugin/build.make.002.log
In file included from /home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:29:0:
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/./include/ActorPlugin.hh:132:16: error: ‘TrajectoryInfoPtr’ in namespace ‘gazebo::physics’ does not name a type
physics::TrajectoryInfoPtr trajectoryInfo;
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc: In member function ‘virtual void gazebo::ActorPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:52:39: error: ‘class gazebo::physics::Actor’ has no member named ‘WorldPose’
this->start_location = this->actor->WorldPose().Pos();
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:85:33: error: ‘class gazebo::physics::Actor’ has no member named ‘SkeletonAnimations’
auto skelAnims = this->actor->SkeletonAnimations();
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:93:11: error: ‘class gazebo::ActorPlugin’ has no member named ‘trajectoryInfo’
this->trajectoryInfo.reset(new physics::TrajectoryInfo());
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:94:11: error: ‘class gazebo::ActorPlugin’ has no member named ‘trajectoryInfo’
this->trajectoryInfo->type = WALKING_ANIMATION;
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:95:11: error: ‘class gazebo::ActorPlugin’ has no member named ‘trajectoryInfo’
this->trajectoryInfo->duration = 1.0;
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:96:18: error: ‘class gazebo::physics::Actor’ has no member named ‘SetCustomTrajectory’
this->actor->SetCustomTrajectory(this->trajectoryInfo);
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:96:44: error: ‘class gazebo::ActorPlugin’ has no member named ‘trajectoryInfo’
this->actor->SetCustomTrajectory(this->trajectoryInfo);
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc: In member function ‘ignition::math::Vector3d gazebo::ActorPlugin::SocialForce(ignition::math::Pose3d&, ignition::math::Vector3d) const’:
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:148:44: error: ‘class gazebo::physics::World’ has no member named ‘ModelCount’
for(unsigned int i = 0; i < this->world->ModelCount(); i++) {
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:149:51: error: ‘class gazebo::physics::World’ has no member named ‘ModelByIndex’
physics::ModelPtr currentAgent = this->world->ModelByIndex(i);
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:162:58: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
ignition::math::Vector3d currentPose = currentAgent->WorldPose().Pos();
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc: In member function ‘void gazebo::ActorPlugin::OnUpdate(const gazebo::common::UpdateInfo&)’:
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:232:46: error: ‘class gazebo::physics::Actor’ has no member named ‘WorldPose’
ignition::math::Pose3d pose = this->actor->WorldPose();
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:281:20: error: ‘class gazebo::physics::Actor’ has no member named ‘WorldPose’
this->actor->WorldPose().Pos()).Length();
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:285:16: error: ‘class gazebo::physics::Actor’ has no member named ‘SetScriptTime’
this->actor->SetScriptTime(this->actor->ScriptTime() +
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:285:43: error: ‘class gazebo::physics::Actor’ has no member named ‘ScriptTime’
this->actor->SetScriptTime(this->actor->ScriptTime() +
^
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc: In member function ‘bool gazebo::ActorPlugin::SetPoseCallback(actor_services::SetPose::Request&, actor_services::SetPose::Response&)’:
/home/yu/zxy/catkin_ws/src/gym_ped_sim/actor_plugin/src/ActorPlugin_ros.cc:341:46: error: ‘class gazebo::physics::Actor’ has no member named ‘WorldPose’
ignition::math::Pose3d pose = this->actor->WorldPose();
^
make[2]: *** [CMakeFiles/actorplugin_ros.dir/src/ActorPlugin_ros.cc.o] Error 1
make[1]: *** [CMakeFiles/actorplugin_ros.dir/all] Error 2
make: *** [all] Error 2
cd /home/yu/zxy/catkin_ws/build/actor_plugin; catkin build --get-env actor_plugin | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
.............................................................................................
Failed << actor_plugin:make [ Exited with code 2 ]
Failed <<< actor_plugin [ 3.5 seconds ]
[build] Summary: 1 of 2 packages succeeded.
[build] Ignored: 2 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 3.6 seconds total.
yu@yu:~/zxy/catkin_ws$
thx!!

Hi
The learning alg released by you and jingwei doesn't include GAIL, where is gail？

Hey,

I wanted to use this Simulation for a project at my university, where we try to simulate actors withe human behavior. I followed exactly your steps in the readme file but if i launch the default.launch my Actors spawn all in the same place and only walk two meters and then being reseted. As I tried to understand the code i recognize the actor_plugin is missing. It would be nice if you could do an reupload with a working simulation.

BR,
Max

Hi, i am trying to publish messages to teleop the actor
any help would be great
thanks in advance

Hi Lei
I have a problem, we want to change the behavior of peds. We want the ped walks in cycles. Do you have any idea about that?
In fact, if we add actor_plugin/lib/libactorplugin_ros.so file to a .world file, the ped disappears!! If we keep, home/kai/catkin_ws/src/Gazebo_ROS...(i.e. original so). The ped appears, however, we can't program on the ped.

Hi Lei Tai,

Thank you for the good work and for providing your code to the public. When I downloaded the dataset you provided in the read.me file, I found that no rgb information is available in the file.

In the read.me file:
The collected pedestrian navigation dataset contains:

• depth image
• RGB image
• target
• social force classification
• social force
• sum force

However, I can only find the following: (no rgb data, checked by loading the files using pytorch)

• force_new.pth
• label_2_new.pth
• normalized_force_new.pth
• target_new.pth
• depth_float_new.pth

process[master]: started with pid [31193]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 36417c1c-3834-11eb-b3ba-3cf862ce8e2f
process[rosout-1]: started with pid [31207]
started core service [/rosout]
process[create_world-2]: started with pid [31227]
process[tfped2defaultworld-3]: started with pid [31232]
process[gazebo-4]: started with pid [31233]
[create_world-2] process has finished cleanly
log file: /home/pzc/.ros/log/36417c1c-3834-11eb-b3ba-3cf862ce8e2f/create_world-2*.log
[ INFO] [1607308248.198177438]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1607308248.198784815]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1607308249.689958644, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1607308249.738404240, 0.034000000]: Physics dynamic reconfigure ready.

The terminal stays in this interface all the time.
when I rosrun rqt_graph, there have gazebo, /tfped2defaultworld, gazebo/model_state node.

Hi how can I get the actors to avoid walls?