Socnav

[AhmedMartban]

Added Socnav.py which manages the SocNav Human Simulation:

• Uses Trajectory Loader to load the recorded trajectory data from the CSV files.
• Loads corresponding Pedestrian Data when launched with the appropriate world argument (map_eth, map_hotel, etc.).
• Calculates the Pedestrian Orientations from the Position Changes manually, since no orientation information is provided through the dataset.
• Uses the Maps from the SocNavBench Repo: ETH, DoubleHotel, Zara, etc.

Easy next steps for the future:

Currently, Gazebo is lagging significantly because of the immense number of Walls spawning there. I adapted how the SDF file is created for the Gazebo case.

If we aim to use SocNav in Gazebo in the future, then:

• Wall spawning needs changes
• spawn_dynamic_obstacle_impl needs to be called not only on the first run or after Reset. In the case of SocNav, it has to be called multiple times during the simulation, since Pedestrians walk for a certain time through the map and then disappear. After a minute they appear again, so spawn_dynamic_obstacle has to be called multiple times during simulation.

Simulation in Flatland for SocNav works fine.

Videos:

https://drive.google.com/drive/folders/14f_S7y11_ADS6s0-d_SrqUSldkmxNTtV (Folder Socnav)
@voshch