digital_twin.crowd_monitor Namespace Reference

Classes
class	CrowdMonitor

Functions
def	main (args=None)

Detailed Description

crowd_monitor.py — Dynamic map overlay for Nav2 crowd-aware replanning.

Reads the static map from map_server (/map), tracks moving humans via
/people_positions (PoseArray from obstacle_spawner), computes a Gaussian
density field around each person, and publishes two grids:

  /map_dynamic   — static map + crowd zones stamped as walls (OccupancyGrid 100)
                   → Nav2 global_costmap static_layer subscribes here
  /crowd_density — density-only overlay for Foxglove visualisation

Function Documentation

main()

def digital_twin.crowd_monitor.main

(

args = None

)