Commit f1fb3a12 authored by Laia Freixas Mateu's avatar Laia Freixas Mateu
Browse files

added the changes in QR rotations in obstacle environment

parent 8531f401
......@@ -33,19 +33,19 @@
</joint>
<xacro:qrcode name="${name}_north" parent="${name}" code="${north_code}" size="0.084">
<origin xyz="0.0 0.375 0.126" rpy="1.5707 0 0" />
<origin xyz="0.0 0.375 0.126" rpy="3.14159 0 1.5707" />
</xacro:qrcode>
<xacro:qrcode name="${name}_south" parent="${name}" code="${south_code}" size="0.084">
<origin xyz="0.0 0.375 -0.126" rpy="-1.5707 0 0" />
<origin xyz="0.0 0.375 -0.126" rpy="0 0 1.5707" />
</xacro:qrcode>
<xacro:qrcode name="${name}_west" parent="${name}" code="${west_code}" size="0.084">
<origin xyz="0.126 0.375 0" rpy="3.14159 0 1.5707" />
<origin xyz="0.126 0.375 0" rpy="-1.5707 0 1.5707" />
</xacro:qrcode>
<xacro:qrcode name="${name}_east" parent="${name}" code="${east_code}" size="0.084">
<origin xyz="-0.126 0.375 0.0" rpy="3.14159 0 -1.5707" />
<origin xyz="-0.126 0.375 0.0" rpy="1.5707 0 1.5707" />
</xacro:qrcode>
<gazebo reference="${name}_link">
......
......@@ -14,60 +14,60 @@
<xacro:obstacle name="obstacle6" parent="obstacle_base" grid_x="5" grid_y="5" north_code="N6" south_code="S6" east_code="E6" west_code="W6"/>
<xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25" size="0.084">
<origin xyz="0.016 0.265 0.375" rpy="0 0 -1.5707" />
<origin xyz="0.016 0.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75" size="0.084">
<origin xyz="0.016 0.765 0.375" rpy="0 0 -1.5707" />
<origin xyz="0.016 0.765 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125" size="0.084">
<origin xyz="0.016 1.265 0.375" rpy="0 0 -1.5707" />
<origin xyz="0.016 1.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175" size="0.084">
<origin xyz="0.016 1.765 0.375" rpy="0 0 -1.5707" />
<origin xyz="0.016 1.765 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225" size="0.084">
<origin xyz="0.016 2.265 0.375" rpy="0 0 -1.5707" />
<origin xyz="0.016 2.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_east_25" parent="obstacle_base" code="E25" size="0.084">
<origin xyz="1.999 0.265 0.375" rpy="0 0 1.5707" />
<origin xyz="1.999 0.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_east_75" parent="obstacle_base" code="E75" size="0.084">
<origin xyz="1.999 0.765 0.375" rpy="0 0 1.5707" />
<origin xyz="1.999 0.765 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_east_125" parent="obstacle_base" code="E125" size="0.084">
<origin xyz="1.999 1.265 0.375" rpy="0 0 1.5707" />
<origin xyz="1.999 1.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_east_175" parent="obstacle_base" code="E175" size="0.084">
<origin xyz="1.999 1.765 0.375" rpy="0 0 1.5707" />
<origin xyz="1.999 1.765 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_east_225" parent="obstacle_base" code="E225" size="0.084">
<origin xyz="1.999 2.265 0.375" rpy="0 0 1.5707" />
<origin xyz="1.999 2.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25" size="0.084">
<origin xyz="0.265 2.514 0.375" rpy="0 0 3.14159" />
<origin xyz="0.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75" size="0.084">
<origin xyz="0.765 2.514 0.375" rpy="0 0 3.14159" />
<origin xyz="0.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125" size="0.084">
<origin xyz="1.265 2.514 0.375" rpy="0 0 3.14159" />
<origin xyz="1.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175" size="0.084">
<origin xyz="1.765 2.514 0.375" rpy="0 0 3.14159" />
<origin xyz="1.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25" size="0.084">
<origin xyz="0.265 0.016 0.375" rpy="0 0 0" />
<origin xyz="0.265 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75" size="0.084">
<origin xyz="0.765 0.016 0.375" rpy="0 0 0" />
<origin xyz="0.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125" size="0.084">
<origin xyz="1.265 0.016 0.375" rpy="0 0 0" />
<origin xyz="1.265 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
<xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175" size="0.084">
<origin xyz="1.765 0.016 0.375" rpy="0 0 0" />
<origin xyz="1.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
</robot>
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