A simulator for crowded Pedestrian in ROS is pedsim_ros .　However, this simulator doesn't have navigation package for a robot. So I am considering to add one into it. To do this, another simulator navigation_stage using movebase and stageros is referred.

A figure from rqtgraph that shows running nodes from navigationstage is shown below.

From above figure, stageros will be replaced with pedsim_ros.

I think some topics /odom /baseposegroundtruth /tf can be simulated in Pedsimros. So now I have two questions:

1, how to simulate topic /basescan and sensor information is not need in pedsimros for now. Can I simulate the movement of a robot using movebase without /basescan.

2, how the movebase get the simulate robot in Rviz. The pedsimros depends on the rviz. A .dae file is used as 3D shape of the robot. Unlike a simulated turtlebot which has its own tf tree, this simulated robot doesn't has its own tf tree. Then how the movebase drives this 3D shap move? Is a 2D postion (x, y) within frame like "basefootprint" enougth?

Looking forwards to any advices. Thanks Hopefully, one of the authors of pedsimros @makokal and @Procópio Silveira Stein who also found pedsimros could give me advices. Thank!