Manually Controllable Gazebo Manikin

Usage

1. gazebo_extra_plugins is a ros package that can be compiled directly into the workspace to generate the required plugins.

2. actor.world is the world file that uses the plugin generated by itself. Note that devel/lib needs to be added to the environment variable of Gazebo before opening, otherwise it will not work properly.

3. Step:

   • roscore to run ros master.
   • gazebo actor.world to run file.
   • Then the rosrun running package provides keyboard_actor_pyqt.py or keyboard_actor.py to control pedestrians. (The control methods are i->forward, j->turn left, l->turn right, the pyqt version can monitor the pressing and releasing events of the button, and the realized control is lower latency.)