diff --git a/road_description/urdf/circuits/full/trafficlights_fixed.xacro b/road_description/urdf/circuits/full/trafficlights_fixed.xacro index 70cb9942148f211ddaee49b9e3b58b5c5e2fe0c0..25f0f5cad0c2b3fe4fea4d05376f8d6b79772ff3 100644 --- a/road_description/urdf/circuits/full/trafficlights_fixed.xacro +++ b/road_description/urdf/circuits/full/trafficlights_fixed.xacro @@ -9,7 +9,7 @@ <xacro:trafficlight name="semaphore_start1" parent="$(arg parent)" - tag_dae="tag95" + tag_dae="alvar0" light_color="red" light_material="Gazebo/RedGlow" light_material2="Gazebo/GreenGlow"> @@ -18,7 +18,7 @@ <xacro:trafficlight name="semaphore_start2" parent="$(arg parent)" - tag_dae="tag95" + tag_dae="alvar0" light_color="red" light_material="Gazebo/RedGlow" light_material2="Gazebo/GreenGlow"> @@ -27,7 +27,7 @@ <xacro:trafficlight name="semaphore_parking1" parent="$(arg parent)" - tag_dae="tag47" + tag_dae="alvar1" light_color="blue" light_material="Gazebo/Blue" light_material2="Gazebo/Black"> @@ -36,7 +36,7 @@ <xacro:trafficlight name="semaphore_parking2" parent="$(arg parent)" - tag_dae="tag47" + tag_dae="alvar1" light_color="blue" light_material="Gazebo/Blue"> <origin xyz="-3.1 -0.5 0" rpy="0 0 ${PI}"/> diff --git a/road_description/urdf/trafficlight/dae/alvar0.dae b/road_description/urdf/trafficlight/dae/alvar0.dae new file mode 100644 index 0000000000000000000000000000000000000000..42647a5eccdb19f3f2253e13e14f026f8cae7446 --- /dev/null +++ b/road_description/urdf/trafficlight/dae/alvar0.dae @@ -0,0 +1,170 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author></author> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + <comments></comments> + </contributor> + <created>2014-10-05T08:59:28Z</created> + <keywords></keywords> + <modified>2014-10-05T08:59:28Z</modified> + <revision></revision> + <subject></subject> + <title></title> + <unit meter="1.0" name="meter"></unit> + <up_axis>Y_UP</up_axis></asset> + <library_images> + <image id="Map #1-image" name="Map #1"> + <init_from>png/alvar0.png</init_from> + </image> + </library_images> + <library_materials> + <material id="Material #36" name="Material #36"> + <instance_effect url="#Material #36-fx"/> + </material> + </library_materials> + <library_effects> + <effect id="Material #36-fx" name="Material #36"> + <profile_COMMON> + <technique sid="standard"> + <phong> + <emission> + <color sid="emission">0 0 0 1</color> + </emission> + <ambient> + <color sid="ambient">1 1 1 1</color> + </ambient> + <diffuse> + <texture texture="Map #1-image" texcoord="CHANNEL0"> + <extra> + <technique profile="MAYA"> + <wrapU sid="wrapU0">TRUE</wrapU> + <wrapV sid="wrapV0">TRUE</wrapV> + <blend_mode>ADD</blend_mode> + </technique> + </extra> + </texture> + </diffuse> + <specular> + <color sid="specular">0 0 0 1</color> + </specular> + <shininess> + <float sid="shininess">2</float> + </shininess> + <reflective> + <color sid="reflective">0 0 0 1</color> + </reflective> + <reflectivity> + <float sid="reflectivity">1</float> + </reflectivity> + <transparent opaque="RGB_ZERO"> + <color sid="transparent">1 1 1 1</color> + </transparent> + <transparency> + <float sid="transparency">0</float> + </transparency> + </phong> + </technique> + </profile_COMMON> + </effect> + </library_effects> + <library_geometries> + <geometry id="image-lib" name="image"> + <mesh> + <source id="image-POSITION"> + <float_array id="image-POSITION-array" count="12"> + -0.5 -0.5 0 + 0.5 -0.5 0 + -0.5 0.5 0 + 0.5 0.5 0 + </float_array> + <technique_common> + <accessor source="#image-POSITION-array" count="4" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-Normal0-array" count="6" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 0.000500 0.999501 + 0.999501 0.999500 + --> + <technique_common> + <accessor source="#image-UV0-array" count="4" stride="2"> + <param name="S" type="float"/> + <param name="T" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="image-VERTEX"> + <input semantic="POSITION" source="#image-POSITION"/> + </vertices> + <triangles count="2" material="Material #36"> + <input semantic="VERTEX" offset="0" source="#image-VERTEX"/> + <input semantic="NORMAL" offset="1" source="#image-Normal0"/> + <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/> + <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="" name=""> + <node name="image" id="image" sid="image"> + <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix> + <instance_geometry url="#image-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Material #36" target="#Material #36"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#"></instance_visual_scene> + </scene> +</COLLADA> diff --git a/road_description/urdf/trafficlight/dae/alvar1.dae b/road_description/urdf/trafficlight/dae/alvar1.dae new file mode 100644 index 0000000000000000000000000000000000000000..b0a367d40ecb45c3a6ab7d69dd2587f3d26266ce --- /dev/null +++ b/road_description/urdf/trafficlight/dae/alvar1.dae @@ -0,0 +1,170 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author></author> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + <comments></comments> + </contributor> + <created>2014-10-05T08:59:28Z</created> + <keywords></keywords> + <modified>2014-10-05T08:59:28Z</modified> + <revision></revision> + <subject></subject> + <title></title> + <unit meter="1.0" name="meter"></unit> + <up_axis>Y_UP</up_axis></asset> + <library_images> + <image id="Map #1-image" name="Map #1"> + <init_from>png/alvar1.png</init_from> + </image> + </library_images> + <library_materials> + <material id="Material #36" name="Material #36"> + <instance_effect url="#Material #36-fx"/> + </material> + </library_materials> + <library_effects> + <effect id="Material #36-fx" name="Material #36"> + <profile_COMMON> + <technique sid="standard"> + <phong> + <emission> + <color sid="emission">0 0 0 1</color> + </emission> + <ambient> + <color sid="ambient">1 1 1 1</color> + </ambient> + <diffuse> + <texture texture="Map #1-image" texcoord="CHANNEL0"> + <extra> + <technique profile="MAYA"> + <wrapU sid="wrapU0">TRUE</wrapU> + <wrapV sid="wrapV0">TRUE</wrapV> + <blend_mode>ADD</blend_mode> + </technique> + </extra> + </texture> + </diffuse> + <specular> + <color sid="specular">0 0 0 1</color> + </specular> + <shininess> + <float sid="shininess">2</float> + </shininess> + <reflective> + <color sid="reflective">0 0 0 1</color> + </reflective> + <reflectivity> + <float sid="reflectivity">1</float> + </reflectivity> + <transparent opaque="RGB_ZERO"> + <color sid="transparent">1 1 1 1</color> + </transparent> + <transparency> + <float sid="transparency">0</float> + </transparency> + </phong> + </technique> + </profile_COMMON> + </effect> + </library_effects> + <library_geometries> + <geometry id="image-lib" name="image"> + <mesh> + <source id="image-POSITION"> + <float_array id="image-POSITION-array" count="12"> + -0.5 -0.5 0 + 0.5 -0.5 0 + -0.5 0.5 0 + 0.5 0.5 0 + </float_array> + <technique_common> + <accessor source="#image-POSITION-array" count="4" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-Normal0-array" count="6" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 0.000500 0.999501 + 0.999501 0.999500 + --> + <technique_common> + <accessor source="#image-UV0-array" count="4" stride="2"> + <param name="S" type="float"/> + <param name="T" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="image-VERTEX"> + <input semantic="POSITION" source="#image-POSITION"/> + </vertices> + <triangles count="2" material="Material #36"> + <input semantic="VERTEX" offset="0" source="#image-VERTEX"/> + <input semantic="NORMAL" offset="1" source="#image-Normal0"/> + <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/> + <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="" name=""> + <node name="image" id="image" sid="image"> + <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix> + <instance_geometry url="#image-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Material #36" target="#Material #36"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#"></instance_visual_scene> + </scene> +</COLLADA> diff --git a/road_description/urdf/trafficlight/dae/png/alvar0.png b/road_description/urdf/trafficlight/dae/png/alvar0.png new file mode 100644 index 0000000000000000000000000000000000000000..9742b5be2bc2655c419e983146af2ae631514295 Binary files /dev/null and b/road_description/urdf/trafficlight/dae/png/alvar0.png differ diff --git a/road_description/urdf/trafficlight/dae/png/alvar1.png b/road_description/urdf/trafficlight/dae/png/alvar1.png new file mode 100644 index 0000000000000000000000000000000000000000..4debbfdc2aff5c3d498e848b559fd33132c6f793 Binary files /dev/null and b/road_description/urdf/trafficlight/dae/png/alvar1.png differ diff --git a/road_description/urdf/trafficlight/dae/tag29.dae b/road_description/urdf/trafficlight/dae/tag29.dae index d515aabf809ecef19a5887e88a5cff4819c8c6ac..42647a5eccdb19f3f2253e13e14f026f8cae7446 100644 --- a/road_description/urdf/trafficlight/dae/tag29.dae +++ b/road_description/urdf/trafficlight/dae/tag29.dae @@ -16,7 +16,7 @@ <up_axis>Y_UP</up_axis></asset> <library_images> <image id="Map #1-image" name="Map #1"> - <init_from>png/tag29.gif</init_from> + <init_from>png/alvar0.png</init_from> </image> </library_images> <library_materials>