Configure the Human Aware Navigation

There are many parameters that your can use to modify the behavior of the global planner and the local planner used in this human-aware navigation framework, see their GitHub pages for more detail. To adjust the parameters of the defined social cost function you can use dynamic reconfigure ("dynamic_social_costmap").

You can also use your own fancy people prediction algorithms or social cost models inside the human-aware-navigation framework.

To change the people prediction, simply exchange the constant velocity prediction in the human_aware_nav_sim navigation.launch file with your prediction node. Make sure it publishes people_msgs::PeoplePrediction messages on the "people_prediction" topic so that the dynamic social costmap layers can be updated.

You can also include your own social cost model. Create a plugin for the dynamic layers of the dynamic costmap used by the lattice planner, like the dynamic social layers plugin in the dynamic_social_costmap package (from the human_aware_navigation repository). It must adhere to the lattice_planner::DynamicLayers interface. Now set the parameter "move_base/TBPlanner/dynamic_layers_plugin" of the lattice_planner to use your defined plugin (fully qualified plugin type for dynamic layers to be used). Change the parameter in human_aware_nav_launch move_base.launch. Again, see https://github.com/marinaKollmitz/lattice_planner for more details.