diff --git a/data/sample_parking/landmarks.txt b/data/sample_parking/landmarks.txt
index 61446b290cbd617b9ba6e326888b0af00d024bee..fff102418810beccb30828933c66986cb4a62e39 100644
--- a/data/sample_parking/landmarks.txt
+++ b/data/sample_parking/landmarks.txt
@@ -1,3 +1,4 @@
+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
diff --git a/data/sample_parking/sample_parking.xodr b/data/sample_parking/sample_parking.xodr
index d1d3771342ff6480afb4658ab8f285f721306a17..e05b1fd7c22917f25c2a8e704545c68fea2d96ed 100644
--- a/data/sample_parking/sample_parking.xodr
+++ b/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>
-
diff --git a/data/sample_parking_loc/landmarks.txt b/data/sample_parking_loc/landmarks.txt
index a95dd4740046afdc183e710e965d8e479d7a853d..f2413e7deaf616415587264073d5621bf34318c3 100644
--- a/data/sample_parking_loc/landmarks.txt
+++ b/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
diff --git a/data/sample_parking_loc/sample_parking_loc.xodr b/data/sample_parking_loc/sample_parking_loc.xodr
index 6166182fc173b823fc2697adc303175294164e24..c39c3e6dbb01007d833747873a5d87a822211de9 100644
--- a/data/sample_parking_loc/sample_parking_loc.xodr
+++ b/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" />
diff --git a/launch/sample_parking/sample_parking_signals.launch b/launch/sample_parking/sample_parking_signals.launch
index 1ad5a5fbc09fa9a175e9ae3986210e1001587489..9e4bdce90d911c2bca18dc69f14b856685ed7754 100644
--- a/launch/sample_parking/sample_parking_signals.launch
+++ b/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="$(arg parent)"/>
+ </include>
+</launch>
diff --git a/launch/sample_parking_loc/sample_parking_loc_signals.launch b/launch/sample_parking_loc/sample_parking_loc_signals.launch
index 8cdcad402c390740cdcc3a92cb6da57ad79a7bf8..9d8f62b22f041d872edbad9c719b7589c85546e6 100644
--- a/launch/sample_parking_loc/sample_parking_loc_signals.launch
+++ b/launch/sample_parking_loc/sample_parking_loc_signals.launch
@@ -328,20 +328,20 @@
<arg name="parent" value="$(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"/>
diff --git a/maps/sample_parking_loc/sample_parking_loc.yaml b/maps/sample_parking_loc/sample_parking_loc.yaml
index c7564dd6c371fdb54c04e629b3f9e018f97f8bdb..daf70acb56766d82ad98e24dcec4577c61e5440e 100644
--- a/maps/sample_parking_loc/sample_parking_loc.yaml
+++ b/maps/sample_parking_loc/sample_parking_loc.yaml
@@ -1,4 +1,4 @@
-image: sample_parking.pgm
+image: sample_parking_loc.pgm
resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000]
negate: 0