sample_objects.launch 3.04 KB
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<?xml version="1.0"?>

<launch>
  <arg name="parent" default="map"/>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="perimeter1_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="0.5"/>
    <arg name="width"  value="10"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="9.2"/>
    <arg name="y"  value="4"/>
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    <arg name="yaw"  value="1.5708"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="perimeter3_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="0.5"/>
    <arg name="width"  value="10"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="-2.2"/>
    <arg name="y"  value="4"/>
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    <arg name="yaw"  value="4.71239"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="object0_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="2.5"/>
    <arg name="width"  value="6"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="1.25"/>
    <arg name="y"  value="4"/>
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    <arg name="yaw"  value="1.5708"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="object1_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="2.5"/>
    <arg name="width"  value="2"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="5.75"/>
    <arg name="y"  value="6"/>
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    <arg name="yaw"  value="1.5708"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="object2_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="2.5"/>
    <arg name="width"  value="3"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="5.75"/>
    <arg name="y"  value="2.5"/>
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    <arg name="yaw"  value="1.5708"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="perimeter0_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="0.5"/>
    <arg name="width"  value="12"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="3.5"/>
    <arg name="y"  value="-1.2"/>
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    <arg name="yaw"  value="0"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_object_description)/launch/spawn_object.launch">
    <arg name="name"  value="perimeter2_0"/>
    <arg name="model"  value="box"/>
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    <arg name="length"  value="0.5"/>
    <arg name="width"  value="12"/>
    <arg name="height"  value="0.5"/>
    <arg name="x"  value="3.5"/>
    <arg name="y"  value="9.2"/>
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    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
</launch>