Fixed traffic signs to close to the road

4e4b4c2e · Alejandro Lopez Gestoso · c4705633 · 4e4b4c2e · 4e4b4c2e · 4e4b4c2e
Commit 4e4b4c2e authored Oct 05, 2021 by Alejandro Lopez Gestoso
--- a/data/sample_parking/landmarks.txt
+++ b/data/sample_parking/landmarks.txt
@@ -38,16 +38,16 @@
 138.000000 8.923837 5.473837 -0.785398 2
 139.000000 8.923837 2.526163 -2.356194 2
 140.000000 8.923837 2.473837 -0.785398 2
-1001.000000 0.000000 -0.500000 -1.570796 0
-1031.000000 8.500000 1.500000 0.000000 0
-1032.000000 7.500000 6.600000 -3.141593 0
-1033.000000 7.500000 4.000000 0.000000 0
-1081.000000 -1.500000 6.500000 -3.141587 0
-1082.000000 -0.500000 1.500000 -0.000000 0
-1101.000000 4.000000 4.200000 0.000000 0
-1102.000000 4.000000 7.000000 0.000000 0
-1103.000000 3.000000 1.000000 -3.141593 0
-1104.000000 4.000000 1.500000 0.000000 0
-1105.000000 3.000000 6.500000 -3.141593 0
-1106.000000 4.000000 5.800000 -3.141593 0
-1111.000000 2.600000 -0.500000 1.570796 0
+1001.000000 0.000000 -0.600000 -1.570796 0
+1031.000000 8.600000 1.500000 0.000000 0
+1032.000000 7.400000 6.600000 -3.141593 0
+1033.000000 7.400000 4.000000 0.000000 0
+1081.000000 -1.600000 6.500000 -3.141587 0
+1082.000000 -0.400000 1.500000 -0.000000 0
+1101.000000 4.100000 4.200000 0.000000 0
+1102.000000 4.100000 7.000000 0.000000 0
+1103.000000 2.900000 1.000000 -3.141593 0
+1104.000000 4.100000 1.500000 0.000000 0
+1105.000000 2.900000 6.500000 -3.141593 0
+1106.000000 4.100000 5.800000 -3.141593 0
+1111.000000 2.600000 -0.600000 1.570796 0
--- a/data/sample_parking/sample_parking.xodr
+++ b/data/sample_parking/sample_parking.xodr
@@ -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" />
            <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
            <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
        </signals>
@@ -224,9 +224,9 @@
            </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" />
            <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="110" name="locsign10" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="5.0000000000000000e+01" />
            <signal s="1.5000000000000000e+01" t="-9.5000000000000000e+00" id="120" name="locsign20" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="5.0000000000000000e+01" />
            <signal s="4.5000000000000000e+01" t="-9.5000000000000000e+00" id="119" name="locsign19" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="5.0000000000000000e+01" />
@@ -461,8 +461,8 @@
            <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" />
            <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
            <signal s="1.5000000000000000e+01" t="-9.5000000000000000e+00" id="115" name="locsign15" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
            <signal s="4.5000000000000000e+01" t="-9.5000000000000000e+00" id="114" name="locsign14" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
@@ -580,12 +580,12 @@
            </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="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="6.0000000000000000e+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="-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" />
            <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
            <signal s="1.5000000000000000e+01" t="-1.0000000000000000e+01" id="108" name="locsign8" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
            <signal s="4.5000000000000000e+01" t="1.0000000000000000e+01" id="105" name="locsign5" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
@@ -625,7 +625,7 @@
            <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" />
            <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
        </signals>
    </road>

--- a/launch/sample_parking/sample_parking_signals.launch
+++ b/launch/sample_parking/sample_parking_signals.launch
@@ -8,7 +8,7 @@
    <arg name="model"  value="sign"/>
    <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="$(arg parent)"/>
  </include>
@@ -18,7 +18,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="1.22384"/>
    <arg name="y"  value="0.973837"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -35,7 +35,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="1.27616"/>
    <arg name="y"  value="-0.923837"/>
-    <arg name="yaw"  value="7.06858"/>
+    <arg name="yaw"  value="0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -52,7 +52,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="5.72384"/>
    <arg name="y"  value="0.973837"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -69,7 +69,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="5.77616"/>
    <arg name="y"  value="-0.923837"/>
-    <arg name="yaw"  value="7.06858"/>
+    <arg name="yaw"  value="0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -85,7 +85,7 @@
    <arg name="name"  value="max_50_1031"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="max_50"/>
-    <arg name="x"  value="8.5"/>
+    <arg name="x"  value="8.6"/>
    <arg name="y"  value="1.5"/>
    <arg name="yaw"  value="4.71239"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -95,7 +95,7 @@
    <arg name="name"  value="parking_1032"/>
    <arg name="model"  value="sign"/>
    <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="$(arg parent)"/>
@@ -105,7 +105,7 @@
    <arg name="name"  value="parking_1033"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="parking"/>
-    <arg name="x"  value="7.5"/>
+    <arg name="x"  value="7.4"/>
    <arg name="y"  value="4"/>
    <arg name="yaw"  value="4.71239"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -116,7 +116,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="7.02616"/>
    <arg name="y"  value="2.47384"/>
-    <arg name="yaw"  value="5.49779"/>
+    <arg name="yaw"  value="-0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -133,7 +133,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="8.92384"/>
    <arg name="y"  value="2.52616"/>
-    <arg name="yaw"  value="8.63938"/>
+    <arg name="yaw"  value="2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -141,7 +141,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="8.92384"/>
    <arg name="y"  value="2.47384"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>

@@ -150,7 +150,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="8.92384"/>
    <arg name="y"  value="5.52616"/>
-    <arg name="yaw"  value="8.63938"/>
+    <arg name="yaw"  value="2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -158,7 +158,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="8.92384"/>
    <arg name="y"  value="5.47384"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>

@@ -167,7 +167,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="5.77616"/>
    <arg name="y"  value="4.02616"/>
-    <arg name="yaw"  value="7.06858"/>
+    <arg name="yaw"  value="0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -184,7 +184,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="5.72384"/>
    <arg name="y"  value="8.92384"/>
-    <arg name="yaw"  value="3.927"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -201,7 +201,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="1.27616"/>
    <arg name="y"  value="7.02616"/>
-    <arg name="yaw"  value="7.06858"/>
+    <arg name="yaw"  value="0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -218,7 +218,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="1.22384"/>
    <arg name="y"  value="8.92384"/>
-    <arg name="yaw"  value="3.927"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -234,7 +234,7 @@
    <arg name="name"  value="max_50_1081"/>
    <arg name="model"  value="sign"/>
    <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="$(arg parent)"/>
@@ -244,7 +244,7 @@
    <arg name="name"  value="max_50_1082"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="max_50"/>
-    <arg name="x"  value="-0.5"/>
+    <arg name="x"  value="-0.4"/>
    <arg name="y"  value="1.5"/>
    <arg name="yaw"  value="4.71239"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -255,7 +255,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="-0.026163"/>
    <arg name="y"  value="5.52616"/>
-    <arg name="yaw"  value="8.63938"/>
+    <arg name="yaw"  value="2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -263,7 +263,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="-0.026163"/>
    <arg name="y"  value="5.47384"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>

@@ -272,7 +272,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="-1.92384"/>
    <arg name="y"  value="5.47384"/>
-    <arg name="yaw"  value="5.49779"/>
+    <arg name="yaw"  value="-0.785393"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -289,7 +289,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="-1.92384"/>
    <arg name="y"  value="2.47384"/>
-    <arg name="yaw"  value="5.49779"/>
+    <arg name="yaw"  value="-0.785393"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -306,7 +306,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="-0.026163"/>
    <arg name="y"  value="2.52616"/>
-    <arg name="yaw"  value="8.63938"/>
+    <arg name="yaw"  value="2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -314,7 +314,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="-0.026163"/>
    <arg name="y"  value="2.47384"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>

@@ -322,7 +322,7 @@
    <arg name="name"  value="parking_1101"/>
    <arg name="model"  value="sign"/>
    <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="$(arg parent)"/>
@@ -332,7 +332,7 @@
    <arg name="name"  value="giveway_1102"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="giveway"/>
-    <arg name="x"  value="4"/>
+    <arg name="x"  value="4.1"/>
    <arg name="y"  value="7"/>
    <arg name="yaw"  value="4.71239"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -342,7 +342,7 @@
    <arg name="name"  value="giveway_1103"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="giveway"/>
-    <arg name="x"  value="3"/>
+    <arg name="x"  value="2.9"/>
    <arg name="y"  value="1"/>
    <arg name="yaw"  value="1.5708"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -352,7 +352,7 @@
    <arg name="name"  value="max_50_1104"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="max_50"/>
-    <arg name="x"  value="4"/>
+    <arg name="x"  value="4.1"/>
    <arg name="y"  value="1.5"/>
    <arg name="yaw"  value="4.71239"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -362,7 +362,7 @@
    <arg name="name"  value="max_50_1105"/>
    <arg name="model"  value="sign"/>
    <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="$(arg parent)"/>
@@ -372,7 +372,7 @@
    <arg name="name"  value="parking_1106"/>
    <arg name="model"  value="sign"/>
    <arg name="type"  value="parking"/>
-    <arg name="x"  value="4"/>
+    <arg name="x"  value="4.1"/>
    <arg name="y"  value="5.8"/>
    <arg name="yaw"  value="1.5708"/>
    <arg name="parent"  value="$(arg parent)"/>
@@ -383,7 +383,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="2.52616"/>
    <arg name="y"  value="2.47384"/>
-    <arg name="yaw"  value="5.49779"/>
+    <arg name="yaw"  value="-0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -400,7 +400,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="4.47384"/>
    <arg name="y"  value="2.52616"/>
-    <arg name="yaw"  value="8.63938"/>
+    <arg name="yaw"  value="2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -408,7 +408,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="4.47384"/>
    <arg name="y"  value="2.47384"/>
-    <arg name="yaw"  value="3.92699"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>

@@ -417,7 +417,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="2.52616"/>
    <arg name="y"  value="5.47384"/>
-    <arg name="yaw"  value="5.49779"/>
+    <arg name="yaw"  value="-0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -434,7 +434,7 @@
    <arg name="model"  value="sign"/>
    <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="$(arg parent)"/>
  </include>
@@ -444,7 +444,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="3.52616"/>
    <arg name="y"  value="-0.923837"/>
-    <arg name="yaw"  value="7.06858"/>
+    <arg name="yaw"  value="0.785398"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
@@ -461,7 +461,7 @@
    <arg name="tag"  value="alvar2_neg_1"/>
    <arg name="x"  value="3.47384"/>
    <arg name="y"  value="8.92384"/>
-    <arg name="yaw"  value="3.927"/>
+    <arg name="yaw"  value="-2.35619"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">