diff --git a/road_description/urdf/circuits/full/map.txt b/road_description/urdf/circuits/full/map.txt
index bf86832a417370dd9ffb38057b82664e8030d909..0f54bf889dea56054edf4a31bafbe2628eed0d3d 100644
--- a/road_description/urdf/circuits/full/map.txt
+++ b/road_description/urdf/circuits/full/map.txt
@@ -1,4 +1,4 @@
-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
diff --git a/road_description/urdf/circuits/full/sim_position.yaml b/road_description/urdf/circuits/full/sim_position.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..27eb12052830bdcb0848d861dd9bc3a0e063d1ea
--- /dev/null
+++ b/road_description/urdf/circuits/full/sim_position.yaml
@@ -0,0 +1,16 @@
+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
diff --git a/road_description/urdf/circuits/full/trafficlights_extra_example.xacro b/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
index 4dd92f32f02017fb6c3491b080724cd4af8b722d..57957317d42f7dfc536c16893e485e99e0ea38b8 100644
--- a/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
+++ b/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
@@ -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"
diff --git a/road_description/urdf/trafficlight/dae/png/roundabout.png b/road_description/urdf/trafficlight/dae/png/roundabout.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1970a324baa3729465fb37515b85f7c35a61cd2
Binary files /dev/null and b/road_description/urdf/trafficlight/dae/png/roundabout.png differ
diff --git a/road_description/urdf/trafficlight/dae/png/stop.png b/road_description/urdf/trafficlight/dae/png/stop.png
new file mode 100644
index 0000000000000000000000000000000000000000..deb2997df14955dbf1968b111b2457d29f480015
Binary files /dev/null and b/road_description/urdf/trafficlight/dae/png/stop.png differ
diff --git a/road_description/urdf/trafficlight/dae/roundabout.dae b/road_description/urdf/trafficlight/dae/roundabout.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b08bb16241cd41bd9a4b5cc623019de8798ef931
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/roundabout.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/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>
diff --git a/road_description/urdf/trafficlight/dae/stop.dae b/road_description/urdf/trafficlight/dae/stop.dae
new file mode 100644
index 0000000000000000000000000000000000000000..cc6a8f38404073627143c631627432cefb17b35b
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/stop.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/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>
diff --git a/road_description/urdf/trafficlight/signal_square_macro.xacro b/road_description/urdf/trafficlight/signal_square_macro.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..052836b7a8e2a3c13cc82cc8c804b3f22f358eb1
--- /dev/null
+++ b/road_description/urdf/trafficlight/signal_square_macro.xacro
@@ -0,0 +1,140 @@
+<?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