Commit 7c9674b8 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update sample map and launch files with correct scale

parent 24de72ab
...@@ -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>
......
...@@ -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>
......
This source diff could not be displayed because it is too large. You can view the blob instead.
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
......
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