From 59cbf7dae8b82fb1ef1278bccf5109d925ee209c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 29 Sep 2021 08:51:01 +0200
Subject: [PATCH] Added the launch files for the sample parking with
 localization signs.

---
 .../sample_parking_loc_signs_objects.launch   | 188 ++++++++++++++++++
 .../sample_parking_loc_signs_parkings.yaml    |  37 ++++
 .../sample_parking_loc_signs_signals.launch   | 135 +++++++++++++
 3 files changed, 360 insertions(+)
 create mode 100644 launch/sample_parking/sample_parking_loc_signs_objects.launch
 create mode 100644 launch/sample_parking/sample_parking_loc_signs_parkings.yaml
 create mode 100644 launch/sample_parking/sample_parking_loc_signs_signals.launch

diff --git a/launch/sample_parking/sample_parking_loc_signs_objects.launch b/launch/sample_parking/sample_parking_loc_signs_objects.launch
new file mode 100644
index 0000000..c64f8bf
--- /dev/null
+++ b/launch/sample_parking/sample_parking_loc_signs_objects.launch
@@ -0,0 +1,188 @@
+<?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>
diff --git a/launch/sample_parking/sample_parking_loc_signs_parkings.yaml b/launch/sample_parking/sample_parking_loc_signs_parkings.yaml
new file mode 100644
index 0000000..1a3bfc9
--- /dev/null
+++ b/launch/sample_parking/sample_parking_loc_signs_parkings.yaml
@@ -0,0 +1,37 @@
+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
diff --git a/launch/sample_parking/sample_parking_loc_signs_signals.launch b/launch/sample_parking/sample_parking_loc_signs_signals.launch
new file mode 100644
index 0000000..65dda4b
--- /dev/null
+++ b/launch/sample_parking/sample_parking_loc_signs_signals.launch
@@ -0,0 +1,135 @@
+<?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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