Commit 73b777c7 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added new opendrive, launch and maps:

  * sample parking with localization signals
  * lab test circuit.
parent 1519320c
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road_x: 25.0006
road_y: 40.0006
road_yaw: 0.0
road_image_size: 74.3022
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101.0 1.374 1.0065 -0.7854 2
102.0 1.426 1.0065 0.7854 2
103.0 0.2015 1.484 -0.7854 2
104.0 0.2015 1.536 -2.3562 2
105.0 1.374 1.9735 -2.3562 2
106.0 1.426 1.9735 2.3562 2
107.0 2.3985 1.484 0.7854 2
108.0 2.3985 1.536 2.3562 2
109.0 1.374 2.9115 -0.7854 2
110.0 1.426 2.9115 0.7854 2
111.0 0.6715 4.429 -0.7854 2
112.0 0.6715 4.481 -2.3562 2
113.0 1.374 5.9985 -2.3562 2
114.0 1.426 5.9985 2.3562 2
115.0 1.5285 4.429 0.7854 2
116.0 1.5285 4.481 2.3562 2
117.0 1.374 -0.5215 -2.3562 2
118.0 1.426 -0.5215 2.3562 2
119.0 -1.2215 1.374 0.7854 2
120.0 -1.2215 1.426 2.3562 2
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123.0 -1.2215 5.374 0.7854 2
124.0 -1.2215 5.426 2.3562 2
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126.0 1.426 7.3215 0.7854 2
127.0 3.8215 1.374 -0.7854 2
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130.0 3.8215 3.426 -2.3562 2
131.0 3.8215 5.374 -0.7854 2
132.0 3.8215 5.426 -2.3562 2
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road_x: 35
road_y: 37.8027
road_yaw: 0.0
road_image_size: 99.101
<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="wall1_2005"/>
<arg name="model" value="box"/>
<arg name="length" value="5"/>
<arg name="width" value="0.2"/>
<arg name="height" value="0.2"/>
<arg name="x" value="2.5"/>
<arg name="y" value="-0.1"/>
<arg name="yaw" value="1.5707"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking1_2000"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="3.38005"/>
<arg name="y" value="4.59508"/>
<arg name="yaw" value="3.1414"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking2_2001"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="3.38009"/>
<arg name="y" value="5.06508"/>
<arg name="yaw" value="3.1414"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking3_2002"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="3.38014"/>
<arg name="y" value="5.53508"/>
<arg name="yaw" value="3.1414"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="wall2_2006"/>
<arg name="model" value="box"/>
<arg name="length" value="5"/>
<arg name="width" value="0.2"/>
<arg name="height" value="0.2"/>
<arg name="x" value="2.5"/>
<arg name="y" value="8.1"/>
<arg name="yaw" value="4.71229"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking4_2003"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="1.415"/>
<arg name="y" value="5.55"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<!--
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="parking5_2004"/>
<arg name="model" value="box"/>
<arg name="length" value="0.25"/>
<arg name="width" value="0.6"/>
<arg name="height" value="0.15"/>
<arg name="x" value="1.415"/>
<arg name="y" value="4.68"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-->
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="obstacle1_2009"/>
<arg name="model" value="box"/>
<arg name="length" value="2.04"/>
<arg name="width" value="0.77"/>
<arg name="height" value="0.2"/>
<arg name="x" value="2.5"/>
<arg name="y" value="2.11"/>
<arg name="yaw" value="4.71229"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="obstacle2_2010"/>
<arg name="model" value="box"/>
<arg name="length" value="0.7"/>
<arg name="width" value="2.93"/>
<arg name="height" value="0.2"/>
<arg name="x" value="2.30001"/>
<arg name="y" value="5.055"/>
<arg name="yaw" value="4.71229"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="obstacle3_2011"/>
<arg name="model" value="box"/>
<arg name="length" value="0.57"/>
<arg name="width" value="0.45"/>
<arg name="height" value="0.2"/>
<arg name="x" value="2.93501"/>
<arg name="y" value="6.295"/>
<arg name="yaw" value="4.71229"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="wall4_2008"/>
<arg name="model" value="box"/>
<arg name="length" value="8.4"/>
<arg name="width" value="0.2"/>
<arg name="height" value="0.2"/>
<arg name="x" value="5.09989"/>
<arg name="y" value="4.00022"/>
<arg name="yaw" value="3.14158"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="wall3_2007"/>
<arg name="model" value="box"/>
<arg name="length" value="8.4"/>
<arg name="width" value="0.2"/>
<arg name="height" value="0.2"/>
<arg name="x" value="-0.1"/>
<arg name="y" value="4"/>
<arg name="yaw" value="6.28309"/>
<arg name="parent" value="$(arg parent)"/>
</include>
</launch>
parkings:
- id: parking1_2000
x: 3.38005
y: 4.59508
yaw: 3.1414
- id: parking2_2001
x: 3.38009
y: 5.06508
yaw: 3.1414
- id: parking3_2002
x: 3.38014
y: 5.53508
yaw: 3.1414
- id: parking4_2003
x: 1.415
y: 5.55
yaw: 4.71239
- id: parking5_2004
x: 1.415
y: 4.68
yaw: 4.71239
<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
</launch>
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image: lab_test.pgm
resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
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