diff --git a/road_description/urdf/circuits/full/trafficlights_extra_example.xacro b/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
index 1e7b388cba5e28184c1c9551ce2931a1e0e3289f..bf6eef012cf7e9795c3dafc9bddfb34d267ca9b3 100644
--- a/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
+++ b/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
@@ -10,7 +10,7 @@
<xacro:trafficlight name="semaphore_roundabout1"
parent="$(arg parent)"
- tag_dae="tag74"
+ tag_dae="alvar2"
light_color="green"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
@@ -19,7 +19,7 @@
<xacro:trafficlight name="semaphore_roundabout2"
parent="$(arg parent)"
- tag_dae="tag74"
+ tag_dae="alvar2"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
@@ -29,7 +29,7 @@
<xacro:trafficlight name="semaphore_intersection1"
parent="$(arg parent)"
- tag_dae="tag74"
+ tag_dae="alvar2"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
@@ -38,7 +38,7 @@
<xacro:trafficlight name="semaphore_intersection2"
parent="$(arg parent)"
- tag_dae="tag74"
+ tag_dae="alvar2"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
@@ -47,7 +47,7 @@
<xacro:trafficlight name="semaphore_intersection3"
parent="$(arg parent)"
- tag_dae="tag74"
+ tag_dae="alvar2"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
@@ -56,14 +56,14 @@
<xacro:signal name="signal_left1"
parent="$(arg parent)"
- tag_dae="tag57"
+ tag_dae="alvar3"
signal_dae="arrow_left">
<origin xyz="1.83 -5.53 0" rpy="0 0 ${-4*PI/6}"/>
</xacro:signal>
<xacro:signal name="signal_right1"
parent="$(arg parent)"
- tag_dae="tag29"
+ tag_dae="alvar4"
signal_dae="arrow_right">
<origin xyz="1.36 -3.73 0" rpy="0 0 ${-2*PI/6}"/>
</xacro:signal>
diff --git a/road_description/urdf/trafficlight/dae/alvar2.dae b/road_description/urdf/trafficlight/dae/alvar2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..e75f1ed4f0711e4ece5492a9a0e036e47d868aa1
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/alvar2.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/alvar2.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/alvar3.dae b/road_description/urdf/trafficlight/dae/alvar3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..5909afecb7af0677c73a8d5bff56b165a42be541
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/alvar3.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/alvar3.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/alvar4.dae b/road_description/urdf/trafficlight/dae/alvar4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0f0925be91f9125a90c50a122f9f824ab801118d
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/alvar4.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/alvar4.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/alvar5.dae b/road_description/urdf/trafficlight/dae/alvar5.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a485cfab68fbaa990f4611c0a420b749d51420ad
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/alvar5.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/alvar5.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"/>
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+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ </float_array>
+ <technique_common>
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