git commit -m "first commit"

simulators/user_config/obstacles_config.yaml

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+# static obstacles
+obstacles:
+  - type: BOX
+    pose: 4 2 0 0 0 0
+    color: Grey
+    props:
+      m: 1.00
+      w: 0.50
+      d: 1.00
+      h: 0.80
+  - type: BOX
+    pose: 3 3 0 0 0 0
+    color: Grey
+    props:
+      m: 1.00
+      w: 1.00
+      d: 0.50
+      h: 1.00

simulators/user_config/pedestrian_config.yaml

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+# sfm algorithm configure
+social_force:
+  animation_factor: 5.1
+  # only handle pedestrians within `people_distance`
+  people_distance: 6.0
+  # weights of social force model
+  goal_weight: 2.0
+  obstacle_weight: 20.0
+  social_weight: 15
+  group_gaze_weight: 3.0
+  group_coh_weight: 2.0
+  group_rep_weight: 1.0
+
+# pedestrians setting
+pedestrians:
+  update_rate: 5
+  ped_property:
+    - name: human_1
+      pose: 11 25 1 0 0 0
+      velocity: 0.9
+      radius: 0.4
+      cycle: true
+      ignore:
+        model_1: ground_plane
+        model_2: turtlebot3_waffle_1
+      trajectory:
+        goal_point_1: 11 25 1 0 0 0
+        goal_point_2: 11 30 1 0 0 0
+    # - name: human_2
+    #   pose: -0.5 -8.5 1 0 0 0
+    #   velocity: 1.2
+    #   radius: 0.4
+    #   cycle: true
+    #   ignore:
+    #     model_1: ground_plane
+    #     model_2: turtlebot3_waffle
+    #   trajectory:
+    #     goal_point_1: -0.5 -8.5 1 0 0 0
+    #     goal_point_2: -9 2.5 1 0 0 0
+    # - name: human_3
+    #   pose: -3.5 -8.5 1 0 0 0
+    #   velocity: 1.2
+    #   radius: 0.4
+    #   cycle: true
+    #   ignore:
+    #     model_1: ground_plane
+    #     model_2: turtlebot3_waffle
+    #   trajectory:
+    #     goal_point_1: -3.5 -8.5 1 0 0 0
+    #     goal_point_2: -3.5 8.5 1 0 0 0

simulators/user_config/user_config.yaml

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+map: "warehouse"
+world: "warehouse"
+rviz_file: "sim_env.rviz"
+
+robots_config:
+  - robot1_type: "turtlebot3_waffle"
+    robot1_global_planner: "d_star"
+    robot1_local_planner: "dwa"
+    robot1_x_pos: "0.0"
+    robot1_y_pos: "0.0"
+    robot1_z_pos: "0.0"
+    robot1_yaw: "0.0"
+
+plugins:
+  pedestrians: "pedestrian_config.yaml"
+  obstacles: "obstacles_config.yaml"
+  map_layers: "maps_config.yaml"