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Commit 093404c0 authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated all the necessary files to be copied to the iri_adc_launch package. 

Removed all the other files.
parent b97896f3
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data/sample.xodr
View file @ 093404c0
...@@ -782,7 +782,7 @@ ...@@ -782,7 +782,7 @@
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2"> <road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link> <link>
<predecessor elementType="road" elementId="5" contactPoint="end" /> <predecessor elementType="road" elementId="5" contactPoint="end" />
<successor elementType="road" elementId="10" contactPoint="start" /> <successor elementType="road" elementId="10" contactPoint="end" />
</link> </link>
<type s="0.0000000000000000e+00" type="town" /> <type s="0.0000000000000000e+00" type="town" />
<planView> <planView>
...@@ -823,7 +823,7 @@ ...@@ -823,7 +823,7 @@
<road name="juntion_6_1_10_1" length="1.5710120345618366e+01" id="1008" junction="2"> <road name="juntion_6_1_10_1" length="1.5710120345618366e+01" id="1008" junction="2">
<link> <link>
<predecessor elementType="road" elementId="6" contactPoint="start" /> <predecessor elementType="road" elementId="6" contactPoint="start" />
<successor elementType="road" elementId="10" contactPoint="start" /> <successor elementType="road" elementId="10" contactPoint="end" />
</link> </link>
<type s="0.0000000000000000e+00" type="town" /> <type s="0.0000000000000000e+00" type="town" />
<planView> <planView>
...@@ -896,7 +896,7 @@ ...@@ -896,7 +896,7 @@
</road> </road>
<road name="juntion_10_-1_5_1" length="1.5709921592724829e+01" id="1010" junction="2"> <road name="juntion_10_-1_5_1" length="1.5709921592724829e+01" id="1010" junction="2">
<link> <link>
<predecessor elementType="road" elementId="10" contactPoint="start" /> <predecessor elementType="road" elementId="10" contactPoint="end" />
<successor elementType="road" elementId="5" contactPoint="end" /> <successor elementType="road" elementId="5" contactPoint="end" />
</link> </link>
<type s="0.0000000000000000e+00" type="town" /> <type s="0.0000000000000000e+00" type="town" />
...@@ -938,7 +938,7 @@ ...@@ -938,7 +938,7 @@
</road> </road>
<road name="juntion_10_-1_6_-1" length="1.5709921580249619e+01" id="1011" junction="2"> <road name="juntion_10_-1_6_-1" length="1.5709921580249619e+01" id="1011" junction="2">
<link> <link>
<predecessor elementType="road" elementId="10" contactPoint="start" /> <predecessor elementType="road" elementId="10" contactPoint="end" />
<successor elementType="road" elementId="6" contactPoint="start" /> <successor elementType="road" elementId="6" contactPoint="start" />
</link> </link>
<type s="0.0000000000000000e+00" type="town" /> <type s="0.0000000000000000e+00" type="town" />
......
data/sample.png → data/sample_gazebo.png
View replaced file @ b97896f3 View file @ 093404c0
This image diff could not be displayed because it is too large. You can view the blob instead.
launch/sample/spawn_road.launch deleted 100644 → 0
View file @ b97896f3
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="road_name" default="road"/>
<arg name="road_file" default="sample"/>
<arg name="road_size" default="9.9101"/>
<arg name="road_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="x" default="3.5"/>
<arg name="y" default="4.0"/>
<arg name="yaw" default="1.5708"/>
<arg name="parent" default="map"/>
<param name="road_description"
command="$(find xacro)/xacro --inorder '$(find iri_road_description)/urdf/road.xacro' name:=$(arg road_name) size:=$(arg road_size)">
</param>
<node name="$(arg road_name)_state_publisher"
pkg ="robot_state_publisher"
type="robot_state_publisher">
<remap from="robot_description" to="road_description" />
<remap from="/joint_states" to="/$(arg road_name)/joint_states" />
</node>
<node name="spawn_urdf_$(arg road_name)"
pkg ="gazebo_ros"
type="spawn_model"
args="-param road_description -urdf -model $(arg road_name) -x $(arg x) -y $(arg y) -z 0 -Y $(arg yaw)">
</node>
<node name="$(arg road_name)_set_road" pkg="iri_road_description" type="set_road.sh" output="screen" args="$(arg road_path)/$(arg road_file).png $(find iri_road_description)/urdf/roads/road.png" />
<node name="static_tf_$(arg road_name)_base_link_to_$(arg parent)" pkg="tf" type="static_transform_publisher"
args="$(arg x) $(arg y) 0 $(arg yaw) 0 0 $(arg parent) $(arg road_name)_base_link 100">
</node>
</launch>
launch/sample/spawn_objects.launch → launch/sample_objects.launch
View file @ 093404c0
...@@ -3,97 +3,87 @@ ...@@ -3,97 +3,87 @@
<launch> <launch>
<arg name="parent" default="map"/> <arg name="parent" default="map"/>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter1_0"/> <arg name="name" value="perimeter1_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.5"/> <arg name="length" value="0.625"/>
<arg name="width" value="10"/> <arg name="width" value="12.5"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="9.2"/> <arg name="x" value="11.5"/>
<arg name="y" value="4"/> <arg name="y" value="5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter3_0"/> <arg name="name" value="perimeter3_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.5"/> <arg name="length" value="0.625"/>
<arg name="width" value="10"/> <arg name="width" value="12.5"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="-2.2"/> <arg name="x" value="-2.75"/>
<arg name="y" value="4"/> <arg name="y" value="5"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object0_0"/> <arg name="name" value="object0_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="2.5"/> <arg name="length" value="3.125"/>
<arg name="width" value="6"/> <arg name="width" value="7.5"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="1.25"/> <arg name="x" value="1.5625"/>
<arg name="y" value="4"/> <arg name="y" value="5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object1_0"/> <arg name="name" value="object1_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="2.5"/> <arg name="length" value="3.125"/>
<arg name="width" value="2"/> <arg name="width" value="2.5"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="5.75"/> <arg name="x" value="7.1875"/>
<arg name="y" value="6"/> <arg name="y" value="7.5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object2_0"/> <arg name="name" value="object2_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="2.5"/> <arg name="length" value="3.125"/>
<arg name="width" value="3"/> <arg name="width" value="3.75"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="5.75"/> <arg name="x" value="7.1875"/>
<arg name="y" value="2.5"/> <arg name="y" value="3.125"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter0_0"/> <arg name="name" value="perimeter0_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.5"/> <arg name="length" value="0.625"/>
<arg name="width" value="12"/> <arg name="width" value="15"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="3.5"/> <arg name="x" value="4.375"/>
<arg name="y" value="-1.2"/> <arg name="y" value="-1.5"/>
<arg name="yaw" value="0"/> <arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter2_0"/> <arg name="name" value="perimeter2_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.5"/> <arg name="length" value="0.625"/>
<arg name="width" value="12"/> <arg name="width" value="15"/>
<arg name="height" value="0.5"/> <arg name="height" value="0.625"/>
<arg name="x" value="3.5"/> <arg name="x" value="4.375"/>
<arg name="y" value="9.2"/> <arg name="y" value="11.5"/>
<arg name="yaw" value="3.14159"/> <arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
</launch> </launch>
launch/sample/spawn_signs.launch → launch/sample_signals.launch
View file @ 093404c0
...@@ -3,150 +3,135 @@ ...@@ -3,150 +3,135 @@
<launch> <launch>
<arg name="parent" default="map"/> <arg name="parent" default="map"/>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="pedestrian_crossing_1001"/> <arg name="name" value="pedestrian_crossing_1001"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar6"/> <arg name="tag" value="alvar6"/>
<arg name="type" value="pedestrian_crossing"/> <arg name="type" value="pedestrian_crossing"/>
<arg name="x" value="1"/> <arg name="x" value="1.25"/>
<arg name="y" value="-0.5"/> <arg name="y" value="-0.625"/>
<arg name="yaw" value="3.14159"/> <arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="pedestrian_crossing_1002"/> <arg name="name" value="pedestrian_crossing_1002"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar6"/> <arg name="tag" value="alvar6"/>
<arg name="type" value="pedestrian_crossing"/> <arg name="type" value="pedestrian_crossing"/>
<arg name="x" value="1.5"/> <arg name="x" value="1.875"/>
<arg name="y" value="0.5"/> <arg name="y" value="0.625"/>
<arg name="yaw" value="0"/> <arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1031"/> <arg name="name" value="max_50_1031"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/> <arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="8.5"/> <arg name="x" value="10.625"/>
<arg name="y" value="1.5"/> <arg name="y" value="1.875"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1032"/> <arg name="name" value="max_50_1032"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/> <arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="7.5"/> <arg name="x" value="9.375"/>
<arg name="y" value="6.5"/> <arg name="y" value="8.125"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1033"/> <arg name="name" value="parking_1033"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar2"/> <arg name="tag" value="alvar2"/>
<arg name="type" value="parking"/> <arg name="type" value="parking"/>
<arg name="x" value="7.5"/> <arg name="x" value="9.375"/>
<arg name="y" value="5"/> <arg name="y" value="6.25"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1081"/> <arg name="name" value="max_50_1081"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/> <arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="-1.5"/> <arg name="x" value="-1.875"/>
<arg name="y" value="6.5"/> <arg name="y" value="8.125"/>
<arg name="yaw" value="7.85398"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1082"/> <arg name="name" value="max_50_1082"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/> <arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="-0.5"/> <arg name="x" value="-0.625"/>
<arg name="y" value="1.5"/> <arg name="y" value="1.875"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1101"/> <arg name="name" value="parking_1101"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar2"/> <arg name="tag" value="alvar2"/>
<arg name="type" value="parking"/> <arg name="type" value="parking"/>
<arg name="x" value="4"/> <arg name="x" value="5"/>
<arg name="y" value="4.2"/> <arg name="y" value="5.25"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="giveway_1102"/> <arg name="name" value="giveway_1102"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar5"/> <arg name="tag" value="alvar5"/>
<arg name="type" value="giveway"/> <arg name="type" value="giveway"/>
<arg name="x" value="4"/> <arg name="x" value="5"/>
<arg name="y" value="7"/> <arg name="y" value="8.75"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="giveway_1103"/> <arg name="name" value="giveway_1103"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar5"/> <arg name="tag" value="alvar5"/>
<arg name="type" value="giveway"/> <arg name="type" value="giveway"/>
<arg name="x" value="3"/> <arg name="x" value="3.75"/>
<arg name="y" value="1"/> <arg name="y" value="1.25"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1104"/> <arg name="name" value="max_50_1104"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/> <arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="4"/> <arg name="x" value="5"/>
<arg name="y" value="1.5"/> <arg name="y" value="1.875"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch"> <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1105"/> <arg name="name" value="max_50_1105"/>
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/> <arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="3"/> <arg name="x" value="3.75"/>
<arg name="y" value="6.5"/> <arg name="y" value="8.125"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
</launch> </launch>
launch/spawn.launch deleted 100644 → 0
View file @ b97896f3
<?xml version="1.0"?>
<launch>
<arg name="name" default="sample"/>
<arg name="road" default="true"/>
<arg name="signs" default="true"/>
<arg name="objects" default="true"/>
<include file="$(find iri_adc_circuit_example)/launch/$(arg name)/spawn_road.launch" if="$(arg road)">
</include>
<include file="$(find iri_adc_circuit_example)/launch/$(arg name)/spawn_signs.launch" if="$(arg signs)">
</include>
<include file="$(find iri_adc_circuit_example)/launch/$(arg name)/spawn_objects.launch" if="$(arg objects)">
</include>
</launch>
map/sample.pgm → maps/adc_map.pgm
View file @ 093404c0
This source diff could not be displayed because it is too large. You can view the blob instead.
map/sample.yaml → maps/adc_map.yaml
View file @ 093404c0
image: sample.pgm image: adc_map.pgm
resolution: 0.050000 resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000] origin: [-5.000000, -5.000000, 0.000000]
negate: 0 negate: 0
......
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