pedsim_ros

Implements the social force model from Helbing et al. for individual and group walking, enabling simulation of large crowds in real time as highlighted in the README.

Provides extensive visualization using Rviz and generates sensor data in the robot frame, making it easy to integrate with existing ROS ecosystems for navigation testing.

Uses XML-based configuration for designing custom simulation environments, allowing researchers to rapidly prototype different pedestrian scenarios.

Generates point clouds for people and walls, useful for developing perception algorithms without the need for real-world data collection.