This simulation environment was used for training and testing in HADP: Hybrid A*-Diffusion Planner for Robust Navigation in Dynamic Obstacle Environments.
It requires the gazebo_sfm_plugin to run.
As I know, the plugin is currently only available for ROS1, but an improved ROS2-compatible version will be released in the future.
The environment includes four scenarios, each designed to reflect various dynamic obstacle situations that may occur in real-world autonomous navigation:
- Straight World (6 pedestrians) – Typical pedestrian avoidance scenario in an open space.
- U-Corridor World (4 pedestrians) – Pedestrian avoidance in a corridor and corner environment.
- Crowd World (31 pedestrians) – Pedestrian avoidance in a dense crowd scenario.
- Intermediate-Wall World (25 pedestrians) – Pedestrian avoidance in the presence of static obstacles.