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mobile_robotics
ADC
ADC_2021
iri_adc_circuit_example
Commits
7c9674b8
Commit
7c9674b8
authored
Apr 14, 2021
by
Fernando Herrero
Browse files
Update sample map and launch files with correct scale
parent
24de72ab
Changes
4
Hide whitespace changes
Inline
Side-by-side
launch/sample/sample_objects.launch
View file @
7c9674b8
...
...
@@ -2,87 +2,80 @@
<launch>
<arg
name=
"parent"
default=
"map"
/>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"perimeter1_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"0.
62
5"
/>
<arg
name=
"width"
value=
"1
2.5
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"
11.5
"
/>
<arg
name=
"y"
value=
"
5
"
/>
<arg
name=
"length"
value=
"0.5"
/>
<arg
name=
"width"
value=
"1
0
"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"
9.2
"
/>
<arg
name=
"y"
value=
"
4
"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"perimeter3_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"0.
62
5"
/>
<arg
name=
"width"
value=
"1
2.5
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"-2.
75
"
/>
<arg
name=
"y"
value=
"
5
"
/>
<arg
name=
"length"
value=
"0.5"
/>
<arg
name=
"width"
value=
"1
0
"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"-2.
2
"
/>
<arg
name=
"y"
value=
"
4
"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"object0_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"
3.1
25"
/>
<arg
name=
"width"
value=
"
7.5
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"1.
56
25"
/>
<arg
name=
"y"
value=
"
5
"
/>
<arg
name=
"length"
value=
"2
.
5"
/>
<arg
name=
"width"
value=
"
6
"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"1.25"
/>
<arg
name=
"y"
value=
"
4
"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"object1_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"
3.1
25"
/>
<arg
name=
"width"
value=
"2
.5
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"
7.18
75"
/>
<arg
name=
"y"
value=
"
7.5
"
/>
<arg
name=
"length"
value=
"2
.
5"
/>
<arg
name=
"width"
value=
"2"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"
5.
75"
/>
<arg
name=
"y"
value=
"
6
"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"object2_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"
3.1
25"
/>
<arg
name=
"width"
value=
"3
.75
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"
7.18
75"
/>
<arg
name=
"y"
value=
"
3.1
25"
/>
<arg
name=
"length"
value=
"2
.
5"
/>
<arg
name=
"width"
value=
"3"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"
5.
75"
/>
<arg
name=
"y"
value=
"2
.
5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"perimeter0_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"0.
62
5"
/>
<arg
name=
"width"
value=
"1
5
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"
4.37
5"
/>
<arg
name=
"y"
value=
"-1.
5
"
/>
<arg
name=
"length"
value=
"0.5"
/>
<arg
name=
"width"
value=
"1
2
"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"
3.
5"
/>
<arg
name=
"y"
value=
"-1.
2
"
/>
<arg
name=
"yaw"
value=
"0"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_object_description)/launch/spawn_object.launch"
>
<arg
name=
"name"
value=
"perimeter2_0"
/>
<arg
name=
"model"
value=
"box"
/>
<arg
name=
"length"
value=
"0.
62
5"
/>
<arg
name=
"width"
value=
"1
5
"
/>
<arg
name=
"height"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"
4.37
5"
/>
<arg
name=
"y"
value=
"
11.5
"
/>
<arg
name=
"length"
value=
"0.5"
/>
<arg
name=
"width"
value=
"1
2
"
/>
<arg
name=
"height"
value=
"0.5"
/>
<arg
name=
"x"
value=
"
3.
5"
/>
<arg
name=
"y"
value=
"
9.2
"
/>
<arg
name=
"yaw"
value=
"3.14159"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
launch/sample/sample_signals.launch
View file @
7c9674b8
...
...
@@ -8,8 +8,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"pedestrian_crossing"
/>
<arg
name=
"x"
value=
"1
.25
"
/>
<arg
name=
"y"
value=
"-0.
62
5"
/>
<arg
name=
"x"
value=
"1"
/>
<arg
name=
"y"
value=
"-0.5"
/>
<arg
name=
"yaw"
value=
"3.14159"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -19,8 +19,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"pedestrian_crossing"
/>
<arg
name=
"x"
value=
"1.
87
5"
/>
<arg
name=
"y"
value=
"0.
62
5"
/>
<arg
name=
"x"
value=
"1.5"
/>
<arg
name=
"y"
value=
"0.5"
/>
<arg
name=
"yaw"
value=
"0"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -30,8 +30,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"
10.62
5"
/>
<arg
name=
"y"
value=
"1.
87
5"
/>
<arg
name=
"x"
value=
"
8.
5"
/>
<arg
name=
"y"
value=
"1.5"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -41,8 +41,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"
9.3
75"
/>
<arg
name=
"y"
value=
"
8.12
5"
/>
<arg
name=
"x"
value=
"7
.
5"
/>
<arg
name=
"y"
value=
"
6.
5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -52,8 +52,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"parking"
/>
<arg
name=
"x"
value=
"
9.3
75"
/>
<arg
name=
"y"
value=
"
6.2
5"
/>
<arg
name=
"x"
value=
"7
.
5"
/>
<arg
name=
"y"
value=
"5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -63,8 +63,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"-1.
87
5"
/>
<arg
name=
"y"
value=
"
8.12
5"
/>
<arg
name=
"x"
value=
"-1.5"
/>
<arg
name=
"y"
value=
"
6.
5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -74,8 +74,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"-0.
62
5"
/>
<arg
name=
"y"
value=
"1.
87
5"
/>
<arg
name=
"x"
value=
"-0.5"
/>
<arg
name=
"y"
value=
"1.5"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -85,8 +85,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"parking"
/>
<arg
name=
"x"
value=
"
5
"
/>
<arg
name=
"y"
value=
"
5
.2
5
"
/>
<arg
name=
"x"
value=
"
4
"
/>
<arg
name=
"y"
value=
"
4
.2"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -96,8 +96,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"giveway"
/>
<arg
name=
"x"
value=
"
5
"
/>
<arg
name=
"y"
value=
"
8.75
"
/>
<arg
name=
"x"
value=
"
4
"
/>
<arg
name=
"y"
value=
"
7
"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -107,8 +107,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"giveway"
/>
<arg
name=
"x"
value=
"3
.75
"
/>
<arg
name=
"y"
value=
"1
.25
"
/>
<arg
name=
"x"
value=
"3"
/>
<arg
name=
"y"
value=
"1"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -118,8 +118,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"
5
"
/>
<arg
name=
"y"
value=
"1.
87
5"
/>
<arg
name=
"x"
value=
"
4
"
/>
<arg
name=
"y"
value=
"1.5"
/>
<arg
name=
"yaw"
value=
"4.71239"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
@@ -129,8 +129,8 @@
<arg
name=
"model"
value=
"sign"
/>
<arg
name=
"tag"
value=
"alvar0"
/>
<arg
name=
"type"
value=
"max_50"
/>
<arg
name=
"x"
value=
"3
.75
"
/>
<arg
name=
"y"
value=
"
8.12
5"
/>
<arg
name=
"x"
value=
"3"
/>
<arg
name=
"y"
value=
"
6.
5"
/>
<arg
name=
"yaw"
value=
"1.5708"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
...
...
maps/sample/sample.pgm
View file @
7c9674b8
No preview for this file type
maps/sample/sample.yaml
View file @
7c9674b8
image
:
adc_map
.pgm
image
:
sample
.pgm
resolution
:
0.050000
origin
:
[
-5.000000
,
-5.000000
,
0.000000
]
negate
:
0
...
...
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