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mobile_robotics
ADC
ADC_2021
iri_adc_circuit_example
Commits
1519320c
Commit
1519320c
authored
Jun 23, 2021
by
Sergi Hernandez
Browse files
Updated the sample_parking environment.
parent
fdcfbb60
Changes
4
Hide whitespace changes
Inline
Side-by-side
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
:
3.141
59
yaw
:
3.141
7
-
id
:
parking10_2_1103
x
:
4.347
y
:
4.995
yaw
:
3.141
59
yaw
:
3.141
7
-
id
:
parking10_2_1104
x
:
4.347
y
:
5.44
yaw
:
3.141
59
yaw
:
3.141
7
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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