Skip to content
Snippets Groups Projects
Commit 7c9674b8 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update sample map and launch files with correct scale

parent 24de72ab
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
launch/sample/sample_objects.launch
+ 35
− 42
View file @ 7c9674b8
...@@ -2,87 +2,80 @@ ...@@ -2,87 +2,80 @@
<launch> <launch>
<arg name="parent" default="map"/> <arg name="parent" default="map"/>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter1_0"/> <arg name="name" value="perimeter1_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.625"/> <arg name="length" value="0.5"/>
<arg name="width" value="12.5"/> <arg name="width" value="10"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="11.5"/> <arg name="x" value="9.2"/>
<arg name="y" value="5"/> <arg name="y" value="4"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter3_0"/> <arg name="name" value="perimeter3_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.625"/> <arg name="length" value="0.5"/>
<arg name="width" value="12.5"/> <arg name="width" value="10"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="-2.75"/> <arg name="x" value="-2.2"/>
<arg name="y" value="5"/> <arg name="y" value="4"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object0_0"/> <arg name="name" value="object0_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="3.125"/> <arg name="length" value="2.5"/>
<arg name="width" value="7.5"/> <arg name="width" value="6"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="1.5625"/> <arg name="x" value="1.25"/>
<arg name="y" value="5"/> <arg name="y" value="4"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object1_0"/> <arg name="name" value="object1_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="3.125"/> <arg name="length" value="2.5"/>
<arg name="width" value="2.5"/> <arg name="width" value="2"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="7.1875"/> <arg name="x" value="5.75"/>
<arg name="y" value="7.5"/> <arg name="y" value="6"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object2_0"/> <arg name="name" value="object2_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="3.125"/> <arg name="length" value="2.5"/>
<arg name="width" value="3.75"/> <arg name="width" value="3"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="7.1875"/> <arg name="x" value="5.75"/>
<arg name="y" value="3.125"/> <arg name="y" value="2.5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter0_0"/> <arg name="name" value="perimeter0_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.625"/> <arg name="length" value="0.5"/>
<arg name="width" value="15"/> <arg name="width" value="12"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="4.375"/> <arg name="x" value="3.5"/>
<arg name="y" value="-1.5"/> <arg name="y" value="-1.2"/>
<arg name="yaw" value="0"/> <arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
<include file="$(find iri_object_description)/launch/spawn_object.launch"> <include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter2_0"/> <arg name="name" value="perimeter2_0"/>
<arg name="model" value="box"/> <arg name="model" value="box"/>
<arg name="length" value="0.625"/> <arg name="length" value="0.5"/>
<arg name="width" value="15"/> <arg name="width" value="12"/>
<arg name="height" value="0.625"/> <arg name="height" value="0.5"/>
<arg name="x" value="4.375"/> <arg name="x" value="3.5"/>
<arg name="y" value="11.5"/> <arg name="y" value="9.2"/>
<arg name="yaw" value="3.14159"/> <arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
......
launch/sample/sample_signals.launch
+ 24
− 24
View file @ 7c9674b8
...@@ -8,8 +8,8 @@ ...@@ -8,8 +8,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="pedestrian_crossing"/> <arg name="type" value="pedestrian_crossing"/>
<arg name="x" value="1.25"/> <arg name="x" value="1"/>
<arg name="y" value="-0.625"/> <arg name="y" value="-0.5"/>
<arg name="yaw" value="3.14159"/> <arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -19,8 +19,8 @@ ...@@ -19,8 +19,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="pedestrian_crossing"/> <arg name="type" value="pedestrian_crossing"/>
<arg name="x" value="1.875"/> <arg name="x" value="1.5"/>
<arg name="y" value="0.625"/> <arg name="y" value="0.5"/>
<arg name="yaw" value="0"/> <arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -30,8 +30,8 @@ ...@@ -30,8 +30,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="10.625"/> <arg name="x" value="8.5"/>
<arg name="y" value="1.875"/> <arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -41,8 +41,8 @@ ...@@ -41,8 +41,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="9.375"/> <arg name="x" value="7.5"/>
<arg name="y" value="8.125"/> <arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -52,8 +52,8 @@ ...@@ -52,8 +52,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/> <arg name="type" value="parking"/>
<arg name="x" value="9.375"/> <arg name="x" value="7.5"/>
<arg name="y" value="6.25"/> <arg name="y" value="5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -63,8 +63,8 @@ ...@@ -63,8 +63,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="-1.875"/> <arg name="x" value="-1.5"/>
<arg name="y" value="8.125"/> <arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -74,8 +74,8 @@ ...@@ -74,8 +74,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="-0.625"/> <arg name="x" value="-0.5"/>
<arg name="y" value="1.875"/> <arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -85,8 +85,8 @@ ...@@ -85,8 +85,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="parking"/> <arg name="type" value="parking"/>
<arg name="x" value="5"/> <arg name="x" value="4"/>
<arg name="y" value="5.25"/> <arg name="y" value="4.2"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -96,8 +96,8 @@ ...@@ -96,8 +96,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="giveway"/> <arg name="type" value="giveway"/>
<arg name="x" value="5"/> <arg name="x" value="4"/>
<arg name="y" value="8.75"/> <arg name="y" value="7"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -107,8 +107,8 @@ ...@@ -107,8 +107,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="giveway"/> <arg name="type" value="giveway"/>
<arg name="x" value="3.75"/> <arg name="x" value="3"/>
<arg name="y" value="1.25"/> <arg name="y" value="1"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -118,8 +118,8 @@ ...@@ -118,8 +118,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="5"/> <arg name="x" value="4"/>
<arg name="y" value="1.875"/> <arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/> <arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
...@@ -129,8 +129,8 @@ ...@@ -129,8 +129,8 @@
<arg name="model" value="sign"/> <arg name="model" value="sign"/>
<arg name="tag" value="alvar0"/> <arg name="tag" value="alvar0"/>
<arg name="type" value="max_50"/> <arg name="type" value="max_50"/>
<arg name="x" value="3.75"/> <arg name="x" value="3"/>
<arg name="y" value="8.125"/> <arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/> <arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/> <arg name="parent" value="$(arg parent)"/>
</include> </include>
......
maps/sample/sample.pgm
+ 2
− 2
View file @ 7c9674b8
No preview for this file type
maps/sample/sample.yaml
+ 1
− 1
View file @ 7c9674b8
image: adc_map.pgm image: sample.pgm
resolution: 0.050000 resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000] origin: [-5.000000, -5.000000, 0.000000]
negate: 0 negate: 0
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment