Simulating walking pedestrian and a (mybot) robot model

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I'm pretty new to ros and gazebo. Currently I'm trying to simulate a robot model (in my case a mybot) and a walking pedestrian. The mybot works just fine but now I want a walking pedestrian to cross the street while the mybot is driving along. My first approach was to use the urdf of the gazebo walking pedastrian and connect it with a velocity plugin but it didn't worked. Does anybody knows about similar projects or does anybody have some tips how to do it? Any help is highly appreciated.