Addes sample_parking_loc. Sample_parking as old version plus global loc signal

data/sample_parking/landmarks.txt

+201.000000 2.600000 -0.800000 -1.570796 3
 1001.000000 0.000000 -0.600000 -1.570796 0
 1031.000000 8.600000 1.500000 0.000000 0
 1032.000000 7.400000 6.600000 -3.141593 0
@@ -5,8 +6,8 @@
 1081.000000 -1.600000 6.500000 -3.141587 0
 1082.000000 -0.400000 1.500000 -0.000000 0
 1101.000000 4.100000 4.200000 0.000000 0
-1102.000000 4.100000 7.000000 0.000000 0
-1103.000000 2.900000 1.000000 -3.141593 0
+1102.000000 4.100000 7.000000 0.000000 1
+1103.000000 2.900000 1.000000 -3.141593 1
 1104.000000 4.100000 1.500000 0.000000 0
 1105.000000 2.900000 6.500000 -3.141593 0
 1106.000000 4.100000 5.800000 -3.141593 0

data/sample_parking/sample_parking.xodr

@@ -605,6 +605,7 @@
         </objects>
         <signals>
             <signal s="1.0000000000000000e+00" t="-6.0000000000000000e+00" id="1111" name="parking_11_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
+            <signal s="1.0000000000000000e+00" t="-8.0000000000000000e+00" id="201" name="globlocsign1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1001" subtype="-1" value="0.0000000000000000e+00" />
         </signals>
     </road>
     <road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
@@ -1079,4 +1080,3 @@
         </connection>
     </junction>
 </OpenDRIVE>
-

data/sample_parking_loc/landmarks.txt

@@ -46,8 +46,8 @@
 1081.000000 -1.600000 6.500000 -3.141587 0
 1082.000000 -0.400000 1.500000 -0.000000 0
 1101.000000 4.100000 4.200000 0.000000 0
-1102.000000 4.100000 7.000000 0.000000 0
-1103.000000 2.900000 1.000000 -3.141593 0
+1102.000000 4.100000 7.000000 0.000000 1
+1103.000000 2.900000 1.000000 -3.141593 1
 1104.000000 4.100000 1.500000 0.000000 0
 1105.000000 2.900000 6.500000 -3.141593 0
 1106.000000 4.100000 5.800000 -3.141593 0

data/sample_parking_loc/sample_parking_loc.xodr

@@ -581,8 +581,8 @@
         </objects>
         <signals>
             <signal s="3.2000000000000000e+01" t="-6.0000000000000000e+00" id="1101" name="parking_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
-            <signal s="6.0000000000000000e+01" t="-6.0000000000000000e+00" id="1102" name="giveway_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="205" subtype="-1" value="0.0000000000000000e+00" />
-            <signal s="0.0000000000000000e+00" t="6.0000000000000000e+00" id="1103" name="giveway_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="205" subtype="-1" value="0.0000000000000000e+00" />
+            <signal s="6.0000000000000000e+01" t="-6.0000000000000000e+00" id="1102" name="giveway_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" subtype="-1" value="0.0000000000000000e+00" />
+            <signal s="0.0000000000000000e+00" t="6.0000000000000000e+00" id="1103" name="giveway_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" subtype="-1" value="0.0000000000000000e+00" />
             <signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1104" name="max50_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
             <signal s="5.5000000000000000e+01" t="6.0000000000000000e+00" id="1105" name="max50_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
             <signal s="4.8000000000000000e+01" t="-6.0000000000000000e+00" id="1106" name="parking_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />

launch/sample_parking/sample_parking_signals.launch

@@ -132,5 +132,15 @@
     <arg name="yaw"  value="0"/>
     <arg name="parent"  value="$(arg parent)"/>
   </include>
-</launch>
 
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="global_loc_201"/>
+    <arg name="model"  value="sign"/>
+    <arg name="type"  value="global_loc"/>
+    <arg name="tag"  value="alvar3_neg_1"/>
+    <arg name="x"  value="2.6"/>
+    <arg name="y"  value="-0.8"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+</launch>

launch/sample_parking_loc/sample_parking_loc_signals.launch

@@ -328,20 +328,20 @@
     <arg name="parent"  value="$(arg parent)"/>
   </include>
 
-  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
-    <arg name="name"  value="giveway_1102"/>
-    <arg name="model"  value="sign"/>
-    <arg name="type"  value="giveway"/>
+  <include file="$(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="$(find iri_sign_description)/launch/spawn_sign.launch">
-    <arg name="name"  value="giveway_1103"/>
-    <arg name="model"  value="sign"/>
-    <arg name="type"  value="giveway"/>
+  <include file="$(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"/>

maps/sample_parking_loc/sample_parking_loc.yaml

-image: sample_parking.pgm
+image: sample_parking_loc.pgm
 resolution: 0.050000
 origin: [-5.000000, -5.000000, 0.000000]
 negate: 0