Create a ros melodic environment with this package in the src folder. First source the ros devel/setup file To run use the following commands

python create_scene.py num_of_agents

where num_of_agents is replaced with the number of agents you want to see (dont set it high than 50).

then to visualize the environment run

rosrun rviz rviz 

and open the default.rviz config in the rviz folder in this repo