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Commit 3d4dcc47 authored by Fernando Herrero's avatar Fernando Herrero
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Added roundabout and stop signals

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road_description/urdf/circuits/full/map.txt
+ 4
− 4
View file @ 3d4dcc47
0 -2.5 -5 2.00
1 0.0 -2.5 2.00
2 0.0 -7.5 2.00
3 -2.5 -5.0 2.00
\ No newline at end of file
0 -2.5 -5 4.00
1 0.0 -2.5 4.00
2 0.0 -7.5 4.00
3 -2.5 -5.0 4.00
\ No newline at end of file
road_description/urdf/circuits/full/sim_position.yaml 0 → 100644
+ 16
− 0
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color1_id: green
color1_x: 0.0
color1_y: -2.5
color1_z: 4.0
color2_id: red
color2_x: 2.5
color2_y: -5.0
color2_z: 4.0
color3_id: yellow
color3_x: -2.5
color3_y: -5.0
color3_z: 4.0
color4_id: blue
color4_x: 0.0
color4_y: -7.5
color4_z: 4.0
\ No newline at end of file
road_description/urdf/circuits/full/trafficlights_extra_example.xacro
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− 34
View file @ 3d4dcc47
......@@ -4,48 +4,35 @@
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:include filename="$(find road_description)/urdf/trafficlight/trafficlight_macro.xacro" />
<xacro:include filename="$(find road_description)/urdf/trafficlight/signal_macro.xacro" />
<xacro:include filename="$(find road_description)/urdf/trafficlight/signal_square_macro.xacro" />
<link name="$(arg parent)">
</link>
<xacro:trafficlight name="semaphore_roundabout1"
parent="$(arg parent)"
tag_dae="alvar0"
light_color="green"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
<origin xyz="1.49 -3.64 0" rpy="0 0 ${PI/6}"/>
</xacro:trafficlight>
<xacro:trafficlight name="semaphore_roundabout2"
parent="$(arg parent)"
tag_dae="alvar0"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
<origin xyz="1.96 -5.58 0" rpy="0 0 ${-PI/6}"/>
</xacro:trafficlight>
<xacro:signal_square name="roundabout1"
parent="$(arg parent)"
tag_dae="alvar5"
signal_dae="roundabout">
<origin xyz="1.49 -3.64 0" rpy="0 0 ${PI/6}"/>
</xacro:signal_square>
<xacro:trafficlight name="semaphore_intersection1"
parent="$(arg parent)"
tag_dae="alvar0"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
<origin xyz="-4.55 -5.6 0" rpy="0 0 ${-PI/2}"/>
</xacro:trafficlight>
<xacro:signal_square name="roundabout2"
parent="$(arg parent)"
tag_dae="alvar5"
signal_dae="roundabout">
<origin xyz="1.96 -5.58 0" rpy="0 0 ${-PI/6}"/>
</xacro:signal_square>
<xacro:trafficlight name="semaphore_intersection2"
parent="$(arg parent)"
tag_dae="alvar0"
light_color="red"
light_material="Gazebo/RedGlow"
light_material2="Gazebo/GreenGlow">
<origin xyz="-5.55 -4.6 0" rpy="0 0 ${PI/2}"/>
</xacro:trafficlight>
<xacro:signal_square name="stop1"
parent="$(arg parent)"
tag_dae="alvar6"
signal_dae="stop">
<origin xyz="-3.76 -0.57 0" rpy="0 0 -${PI/4}"/>
</xacro:signal_square>
<xacro:trafficlight name="semaphore_intersection3"
<xacro:trafficlight name="semaphore_intersection1"
parent="$(arg parent)"
tag_dae="alvar0"
light_color="red"
......
road_description/urdf/trafficlight/dae/png/roundabout.png 0 → 100644
+ 0
− 0
View file @ 3d4dcc47
road_description/urdf/trafficlight/dae/png/roundabout.png

147 KiB

road_description/urdf/trafficlight/dae/png/stop.png 0 → 100644
+ 0
− 0
View file @ 3d4dcc47
road_description/urdf/trafficlight/dae/png/stop.png

25.8 KiB

road_description/urdf/trafficlight/dae/roundabout.dae 0 → 100644
+ 170
− 0
View file @ 3d4dcc47
<?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/roundabout.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">0.5 0.5 0.5 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>
road_description/urdf/trafficlight/dae/stop.dae 0 → 100644
+ 170
− 0
View file @ 3d4dcc47
<?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/stop.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">0.5 0.5 0.5 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>
road_description/urdf/trafficlight/signal_square_macro.xacro 0 → 100644
+ 140
− 0
View file @ 3d4dcc47
<?xml version="1.0"?>
<root xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--<xacro:include filename="$(find road_description)/urdf/materials.xacro" />-->
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="panel_width" value="0.07" />
<xacro:property name="panel_depth" value="0.07" />
<xacro:property name="panel_height" value="0.175" />
<xacro:property name="tag_size" value="0.05" />
<xacro:property name="tag_z_offset" value="0.065" />
<xacro:property name="delta" value="0.001" />
<xacro:property name="light_width" value="0.05" />
<xacro:property name="light_height" value="0.05" />
<xacro:property name="light_z_offset" value="0.125" />
<xacro:macro name="signal_square"
params="name:=signal
parent:=${name}_base_link
*origin
tag_dae:=roundabout
signal_dae:=roundabout
light_material2:=Gazebo/GreenGlow
">
<!-- PANEL -->
<joint name="joint_${parent}_to_${name}" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
</inertial>
<visual>
<origin xyz="0 0 ${panel_height/2.0}" rpy="0 0 0"/>
<geometry>
<box size="${panel_depth} ${panel_width} ${panel_height}"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin xyz="0 0 ${panel_height/2.0}" rpy="0 0 0"/>
<geometry>
<box size="${panel_depth} ${panel_width} ${panel_height}"/>
</geometry>
</collision>
</link>
<gazebo>
<static>1</static>
</gazebo>
<gazebo reference="${name}_link">
<material>Gazebo/White</material>
</gazebo>
<!-- PANEL -->
<!-- TAG -->
<joint name="joint_${name}_link_to_${name}_tag_link" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${name}_link"/>
<child link="${name}_tag_link"/>
</joint>
<link name="${name}_tag_link">
</link>
<joint name="joint_${name}_tag_link_to_${name}_tag_image" type="fixed">
<origin xyz="${panel_depth/2.0+delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 ${PI} -${PI/2}" />
<parent link="${name}_tag_link"/>
<child link="${name}_tag_image" />
</joint>
<link name="${name}_tag_image">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://road_description/urdf/trafficlight/dae/${tag_dae}.dae" scale="${tag_size} 1.0 ${tag_size}"/>
</geometry>
</visual>
</link>
<gazebo>
<static>1</static>
</gazebo>
<gazebo reference="${name}_tag_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${name}_tag_image">
</gazebo>
<!-- TAG -->
<!-- LIGHT -->
<joint name="joint_${name}_link_to_${name}_light_link" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${name}_link"/>
<child link="${name}_light_link"/>
</joint>
<link name="${name}_light_link">
</link>
<joint name="joint_${name}_light_link_to_${name}_light_image" type="fixed">
<origin xyz="${panel_depth/2.0+delta} 0 ${light_height/2.0+light_z_offset}" rpy="0 ${PI} -${PI/2}" />
<parent link="${name}_light_link"/>
<child link="${name}_light_image" />
</joint>
<link name="${name}_light_image">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://road_description/urdf/trafficlight/dae/${signal_dae}.dae" scale="${light_width} 1.0 ${light_height}"/>
</geometry>
</visual>
</link>
<gazebo>
<static>1</static>
</gazebo>
<gazebo reference="${name}_light_link">
</gazebo>
<gazebo reference="${name}_light_image">
<!--<material>${light_material}</material>-->
</gazebo>
<!-- LIGHT -->
</xacro:macro>
</root>
\ No newline at end of file
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