Commit 59cbf7da authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added the launch files for the sample parking with localization signs.

parent 73b777c7
<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking_0_1_1"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="0.5"/>
<arg name="y" value="-0.667"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking_0_2_2"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="1.3"/>
<arg name="y" value="-0.667"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking_0_3_3"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="2.1"/>
<arg name="y" value="-0.667"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter1_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="10"/>
<arg name="height" value="0.5"/>
<arg name="x" value="9.2"/>
<arg name="y" value="4"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking3_1_31"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="7.352"/>
<arg name="y" value="4.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking3_2_32"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="7.352"/>
<arg name="y" value="5.3"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking3_3_33"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="7.352"/>
<arg name="y" value="6.1"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter3_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="10"/>
<arg name="height" value="0.5"/>
<arg name="x" value="-2.2"/>
<arg name="y" value="4"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object0_1100"/>
<arg name="model" value="box"/>
<arg name="length" value="2.5"/>
<arg name="width" value="6"/>
<arg name="height" value="0.5"/>
<arg name="x" value="1.25"/>
<arg name="y" value="4"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object1_1101"/>
<arg name="model" value="box"/>
<arg name="length" value="2.5"/>
<arg name="width" value="3"/>
<arg name="height" value="0.5"/>
<arg name="x" value="5.75"/>
<arg name="y" value="2.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking10_1_1102"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="4.347"/>
<arg name="y" value="4.55"/>
<arg name="yaw" value="3.1417"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking10_2_1103"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="4.347"/>
<arg name="y" value="4.995"/>
<arg name="yaw" value="3.1417"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking10_2_1104"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="4.347"/>
<arg name="y" value="5.44"/>
<arg name="yaw" value="3.1417"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter0_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="12"/>
<arg name="height" value="0.5"/>
<arg name="x" value="3.5"/>
<arg name="y" value="-1.2"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter2_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="12"/>
<arg name="height" value="0.5"/>
<arg name="x" value="3.5"/>
<arg name="y" value="9.2"/>
<arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/>
</include>
</launch>
parkings:
- id: parking_0_1_1
x: 0.5
y: -0.667
yaw: 0
- id: parking_0_2_2
x: 1.3
y: -0.667
yaw: 0
- id: parking_0_3_3
x: 2.1
y: -0.667
yaw: 0
- id: parking3_1_31
x: 7.352
y: 4.5
yaw: 1.5708
- id: parking3_2_32
x: 7.352
y: 5.3
yaw: 1.5708
- id: parking3_3_33
x: 7.352
y: 6.1
yaw: 1.5708
- id: parking10_1_1102
x: 4.347
y: 4.55
yaw: 3.1417
- id: parking10_2_1103
x: 4.347
y: 4.995
yaw: 3.1417
- id: parking10_2_1104
x: 4.347
y: 5.44
yaw: 3.1417
<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1001"/>
<arg name="model" value="sign"/>
<arg name="type" value="parking"/>
<arg name="x" value="0"/>
<arg name="y" value="-0.6"/>
<arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1031"/>
<arg name="model" value="sign"/>
<arg name="type" value="max_50"/>
<arg name="x" value="8.6"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1032"/>
<arg name="model" value="sign"/>
<arg name="type" value="parking"/>
<arg name="x" value="7.4"/>
<arg name="y" value="6.6"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1033"/>
<arg name="model" value="sign"/>
<arg name="type" value="parking"/>
<arg name="x" value="7.4"/>
<arg name="y" value="4"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1081"/>
<arg name="model" value="sign"/>
<arg name="type" value="max_50"/>
<arg name="x" value="-1.6"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1082"/>
<arg name="model" value="sign"/>
<arg name="type" value="max_50"/>
<arg name="x" value="-0.4"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1101"/>
<arg name="model" value="sign"/>
<arg name="type" value="parking"/>
<arg name="x" value="4.1"/>
<arg name="y" value="4.2"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
<arg name="name" value="semaphore_1102"/>
<arg name="model" value="semaphore"/>
<arg name="initial_state" value="True"/>
<arg name="x" value="4.1"/>
<arg name="y" value="7"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
<arg name="name" value="semaphore_1103"/>
<arg name="model" value="semaphore"/>
<arg name="initial_state" value="True"/>
<arg name="x" value="2.9"/>
<arg name="y" value="1"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1104"/>
<arg name="model" value="sign"/>
<arg name="type" value="max_50"/>
<arg name="x" value="4.1"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1105"/>
<arg name="model" value="sign"/>
<arg name="type" value="max_50"/>
<arg name="x" value="2.9"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1106"/>
<arg name="model" value="sign"/>
<arg name="type" value="parking"/>
<arg name="x" value="4.1"/>
<arg name="y" value="5.8"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1111"/>
<arg name="model" value="sign"/>
<arg name="type" value="parking"/>
<arg name="x" value="2.6"/>
<arg name="y" value="-0.6"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
</launch>
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