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Commit 1519320c authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the sample_parking environment.

parent fdcfbb60
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data/sample_parking/sample_parking.xodr
View file @ 1519320c
......@@ -64,7 +64,7 @@
</object>
</objects>
<signals>
<signal s="0.0000000000000000e+00" t="-5.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="0.0000000000000000e+00" t="-6.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
......@@ -219,9 +219,9 @@
</object>
</objects>
<signals>
<signal s="5.0000000000000000e+00" t="-5.0000000000000000e+00" id="1031" name="max50_3_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.6000000000000000e+01" t="5.0000000000000000e+00" id="1032" name="parking_3_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="3.0000000000000000e+01" t="5.0000000000000000e+00" id="1033" name="parking_3_2" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1031" name="max50_3_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.6000000000000000e+01" t="6.0000000000000000e+00" id="1032" name="parking_3_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="3.0000000000000000e+01" t="6.0000000000000000e+00" id="1033" name="parking_3_2" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
</signals>
</road>
<road name="road4" length="1.5707963270000000e+01" id="4" junction="-1">
......@@ -447,8 +447,8 @@
<object s="3.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter3" name="perimeter3" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="none" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.0000000000000000e+02" height="5.0000000000000000e+00" />
</objects>
<signals>
<signal s="5.0000000000000000e+00" t="-5.0000000000000000e+00" id="1081" name="max50_8_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.5000000000000000e+01" t="5.0000000000000000e+00" id="1082" name="max50_7_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1081" name="max50_8_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.5000000000000000e+01" t="6.0000000000000000e+00" id="1082" name="max50_7_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
</signals>
</road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
......@@ -562,12 +562,12 @@
</object>
</objects>
<signals>
<signal s="3.2000000000000000e+01" t="-5.0000000000000000e+00" id="1101" name="parking_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="6.0000000000000000e+01" t="-5.0000000000000000e+00" id="1102" name="giveway_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="205" subtype="-1" value="0.0000000000000000e+00" />
<signal s="0.0000000000000000e+00" t="5.0000000000000000e+00" id="1103" name="giveway_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="205" subtype="-1" value="0.0000000000000000e+00" />
<signal s="5.0000000000000000e+00" t="-5.0000000000000000e+00" id="1104" name="max50_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.5000000000000000e+01" t="5.0000000000000000e+00" id="1105" name="max50_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="4.8000000000000000e+01" t="-5.0000000000000000e+00" id="1106" name="parking_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="3.2000000000000000e+01" t="-6.0000000000000000e+00" id="1101" name="parking_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="6.0000000000000000e+01" t="-6.0000000000000000e+00" id="1102" name="semaphore_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" subtype="-1" value="0.0000000000000000e+00" />
<signal s="0.0000000000000000e+00" t="6.0000000000000000e+00" id="1103" name="semaphore_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" subtype="-1" value="0.0000000000000000e+00" />
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1104" name="max50_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.5000000000000000e+01" t="6.0000000000000000e+00" id="1105" name="max50_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="4.8000000000000000e+01" t="-6.0000000000000000e+00" id="1106" name="parking_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
</signals>
</road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
......@@ -604,7 +604,7 @@
<object s="1.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter0" name="perimeter0" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.2000000000000000e+02" height="5.0000000000000000e+00" />
</objects>
<signals>
<signal s="1.0000000000000000e+00" t="-5.0000000000000000e+00" id="1111" name="parking_11_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.0000000000000000e+00" t="-6.0000000000000000e+00" id="1111" name="parking_11_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
......
launch/sample_parking/sample_parking_parkings.yaml
View file @ 1519320c
......@@ -2,15 +2,15 @@ parkings:
- id: parking_0_1_1
x: 0.5
y: -0.667
yaw: 0.0
yaw: 0
- id: parking_0_2_2
x: 1.3
y: -0.667
yaw: 0.0
yaw: 0
- id: parking_0_3_3
x: 2.1
y: -0.667
yaw: 0.0
yaw: 0
- id: parking3_1_31
x: 7.352
y: 4.5
......@@ -26,12 +26,12 @@ parkings:
- id: parking10_1_1102
x: 4.347
y: 4.55
yaw: 3.14159
yaw: 3.1417
- id: parking10_2_1103
x: 4.347
y: 4.995
yaw: 3.14159
yaw: 3.1417
- id: parking10_2_1104
x: 4.347
y: 5.44
yaw: 3.14159
yaw: 3.1417
launch/sample_parking/sample_parking_signals.launch
View file @ 1519320c
......@@ -6,10 +6,9 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1001"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/>
<arg name="x" value="0"/>
<arg name="y" value="-0.5"/>
<arg name="y" value="-0.6"/>
<arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/>
</include>
......@@ -17,9 +16,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1031"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/>
<arg name="x" value="8.5"/>
<arg name="x" value="8.6"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -28,9 +26,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1032"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/>
<arg name="x" value="7.5"/>
<arg name="x" value="7.4"/>
<arg name="y" value="6.6"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -39,9 +36,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1033"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/>
<arg name="x" value="7.5"/>
<arg name="x" value="7.4"/>
<arg name="y" value="4"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -50,9 +46,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1081"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/>
<arg name="x" value="-1.5"/>
<arg name="x" value="-1.6"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -61,9 +56,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1082"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/>
<arg name="x" value="-0.5"/>
<arg name="x" value="-0.4"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -72,31 +66,28 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1101"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/>
<arg name="x" value="4"/>
<arg name="x" value="4.1"/>
<arg name="y" value="4.2"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="giveway_1102"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="giveway"/>
<arg name="x" value="4"/>
<include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
<arg name="name" value="semaphore_1102"/>
<arg name="model" value="semaphore"/>
<arg name="initial_state" value="True"/>
<arg name="x" value="4.1"/>
<arg name="y" value="7"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="giveway_1103"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="giveway"/>
<arg name="x" value="3"/>
<include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
<arg name="name" value="semaphore_1103"/>
<arg name="model" value="semaphore"/>
<arg name="initial_state" value="True"/>
<arg name="x" value="2.9"/>
<arg name="y" value="1"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -105,9 +96,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1104"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/>
<arg name="x" value="4"/>
<arg name="x" value="4.1"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -116,9 +106,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1105"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/>
<arg name="x" value="3"/>
<arg name="x" value="2.9"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -127,9 +116,8 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1106"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/>
<arg name="x" value="4"/>
<arg name="x" value="4.1"/>
<arg name="y" value="5.8"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
......@@ -138,10 +126,9 @@
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1111"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/>
<arg name="x" value="2.6"/>
<arg name="y" value="-0.5"/>
<arg name="y" value="-0.6"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
......
maps/sample_parking/sample_parking.pgm
View file @ 1519320c
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