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mobile_robotics
ADC
ADC_2021
iri_adc_circuit_example
Commits
c4705633
Commit
c4705633
authored
Oct 04, 2021
by
Alejandro Lopez Gestoso
Browse files
Updated xodr and launch files to localization signs
parent
59cbf7da
Changes
12
Expand all
Hide whitespace changes
Inline
Side-by-side
data/lab_test/lab_test.xodr
View file @
c4705633
...
...
@@ -43,7 +43,9 @@
<objects>
<object
s=
"4.8499999999999996e+00"
t=
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/>
</objects>
<signals
/>
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<signal
s=
"4.8499999999999996e+00"
t=
"-7.4000000000000004e+00"
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"109"
name=
"locsign9"
dynamic=
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"-"
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country=
"DEU"
type=
""
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"-1"
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</signals>
</road>
<road
name=
"road1"
length=
"2.0029700000000002e+01"
id=
"1"
junction=
"-1"
>
<link>
...
...
@@ -153,7 +155,11 @@
</parkingSpace>
</object>
</objects>
<signals
/>
<signals>
<signal
s=
"0.0000000000000000e+00"
t=
"-7.4000000000000004e+00"
id=
"115"
name=
"locsign15"
dynamic=
"no"
orientation=
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country=
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type=
""
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<signal
s=
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t=
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name=
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"-"
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country=
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<signal
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t=
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country=
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""
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</signals>
</road>
<road
name=
"road3"
length=
"2.0029700000000002e+01"
id=
"3"
junction=
"-1"
>
<link>
...
...
@@ -244,7 +250,9 @@
<objects>
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"4.8499999999999996e+00"
t=
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name=
"wall2"
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"none"
zOffset=
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</objects>
<signals
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<signals>
<signal
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t=
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id=
"113"
name=
"locsign13"
dynamic=
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orientation=
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zOffset=
"0.0000000000000000e+00"
country=
"DEU"
type=
""
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/>
</signals>
</road>
<road
name=
"road5"
length=
"2.0029700000000002e+01"
id=
"5"
junction=
"-1"
>
<link>
...
...
@@ -349,7 +357,11 @@
</parkingSpace>
</object>
</objects>
<signals
/>
<signals>
<signal
s=
"1.8600000000000001e+01"
t=
"-7.4000000000000004e+00"
id=
"111"
name=
"locsign11"
dynamic=
"no"
orientation=
"-"
zOffset=
"0.0000000000000000e+00"
country=
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""
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<signal
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t=
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name=
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orientation=
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zOffset=
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country=
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t=
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id=
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name=
"locsign6"
dynamic=
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country=
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""
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</signals>
</road>
<road
name=
"road7"
length=
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id=
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junction=
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>
<link>
...
...
@@ -435,7 +447,12 @@
<object
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<signals
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<signals>
<signal
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"4.8499999999999996e+00"
t=
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"locsign1"
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country=
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""
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/>
<signal
s=
"4.8499999999999996e+00"
t=
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id=
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name=
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t=
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<signal
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"4.8499999999999996e+00"
t=
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type=
""
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</signals>
</road>
<road
name=
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length=
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id=
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>
<link>
...
...
@@ -470,7 +487,10 @@
<objects>
<object
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"1.9850000000000001e+01"
t=
"-8.4000000000000004e+00"
id=
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</objects>
<signals
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<signals>
<signal
s=
"0.0000000000000000e+00"
t=
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id=
"116"
name=
"locsign16"
dynamic=
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"-"
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country=
"DEU"
type=
""
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/>
<signal
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"1.1000000000000001e+00"
t=
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id=
"104"
name=
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dynamic=
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</signals>
</road>
<road
name=
"junction_2_1_1_1"
length=
"2.1098453127444021e+01"
id=
"1001"
junction=
"0"
>
<link>
...
...
@@ -620,7 +640,10 @@
<objects>
<object
s=
"1.2500000000000000e+00"
t=
"-8.4000000000000004e+00"
id=
"2007"
name=
"wall3"
dynamic=
"no"
orientation=
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zOffset=
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validLength=
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type=
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hdg=
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/>
</objects>
<signals
/>
<signals>
<signal
s=
"2.1100000000000001e+01"
t=
"-7.4000000000000004e+00"
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"locsign10"
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<signal
s=
"2.1100000000000001e+01"
t=
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id=
"102"
name=
"locsign2"
dynamic=
"no"
orientation=
"+"
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country=
"DEU"
type=
""
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/>
</signals>
</road>
<road
name=
"junction_7_1_6_1"
length=
"2.1100000000000001e+01"
id=
"1005"
junction=
"1"
>
<link>
...
...
data/lab_test/landmarks.txt
View file @
c4705633
101.0
1.374 1.0065
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4
2
102.0
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104.0
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2
105.0
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2.3562 2
106.0
1.426 1.9735
2.356
2
2
107.0
2.3985 1.484
0.7854 2
108.0
2.3985 1.536
2.3562 2
109.0
1.374 2.9115
-0.785
4
2
110.0
1.426 2.9115
0.7854 2
111.0
0.6715 4.429 -0.785
4 2
112.0
0.6715 4.481 -2.3562
2
113.0
1.374 5.9985 -
2.3562 2
114.0
1.426 5.9985
2.356
2
2
115.0
1.5285 4.42
9 0.785
4
2
116.0
1.5285 4.481
2.356
2
2
117.0
1.374 -0.5215 -
2.356
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2
118.0
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119.0
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37
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0.7854 2
120.0
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0.7854 2
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0.7854 2
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127.0
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129.0
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2
130.0
3.8215 3.426 -2.3562
2
131.0
3.8215 5.
37
4
-
0.7854
2
132.0
3.8215 5.426 -2.3562
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101.0
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111.0
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112.0
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2
113.0
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data/sample_parking/landmarks.txt
0 → 100644
View file @
c4705633
101.000000 1.223837 0.973837 -0.785398 2
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data/sample_parking/sample_parking.xodr
View file @
c4705633
...
...
@@ -64,7 +64,9 @@
</object>
</objects>
<signals>
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<signal
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<signal
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</road>
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length=
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junction=
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>
...
...
@@ -107,7 +109,10 @@
</laneSection>
</lanes>
<objects
/>
<signals
/>
<signals>
<signal
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...
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...
...
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...
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...
...
data/sample_parking/sample_parking_loc_signs.png
deleted
100644 → 0
View file @
59cbf7da
This image diff could not be displayed because it is too large. You can
view the blob
instead.
data/sample_parking/sample_parking_loc_signs.xodr
deleted
100644 → 0
View file @
59cbf7da
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Click to expand it.
data/sample_parking/sample_parking_loc_signs.yaml
deleted
100644 → 0
View file @
59cbf7da
road_x
:
35
road_y
:
37.8027
road_yaw
:
0.0
road_image_size
:
99.101
launch/lab_test/lab_test_signals.launch
View file @
c4705633
...
...
@@ -2,4 +2,276 @@
<launch>
<arg
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default=
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value=
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name=
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value=
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value=
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<include
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>
<arg
name=
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value=
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<arg
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value=
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value=
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<include
file=
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<arg
name=
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value=
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<arg
name=
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value=
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<arg
name=
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value=
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name=
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value=
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name=
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value=
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<arg
name=
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value=
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/>
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<include
file=
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<arg
name=
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value=
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/>
<arg
name=
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value=
"alvar2_neg_1"
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<arg
name=
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value=
"4.97401"
/>
<arg
name=
"y"
value=
"5.95877"
/>
<arg
name=
"yaw"
value=
"-2.35629"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_15"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.68625"
/>
<arg
name=
"y"
value=
"5.02899"
/>
<arg
name=
"yaw"
value=
"-0.785494"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_16"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.68626"
/>
<arg
name=
"y"
value=
"5.08131"
/>
<arg
name=
"yaw"
value=
"0.785302"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_25"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.47384"
/>
<arg
name=
"y"
value=
"7.97384"
/>
<arg
name=
"yaw"
value=
"-2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_26"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.52616"
/>
<arg
name=
"y"
value=
"7.97384"
/>
<arg
name=
"yaw"
value=
"-0.785396"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_21"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"0.0261631"
/>
<arg
name=
"y"
value=
"4.09884"
/>
<arg
name=
"yaw"
value=
"-0.785393"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_22"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"0.0261628"
/>
<arg
name=
"y"
value=
"4.15116"
/>
<arg
name=
"yaw"
value=
"0.785403"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_23"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"0.0261631"
/>
<arg
name=
"y"
value=
"5.95884"
/>
<arg
name=
"yaw"
value=
"-0.785393"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_24"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"0.0261628"
/>
<arg
name=
"y"
value=
"6.01116"
/>
<arg
name=
"yaw"
value=
"0.785403"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_11"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"1.91384"
/>
<arg
name=
"y"
value=
"5.08116"
/>
<arg
name=
"yaw"
value=
"2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_12"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"1.91384"
/>
<arg
name=
"y"
value=
"5.02884"
/>
<arg
name=
"yaw"
value=
"-2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_1"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.47383"
/>
<arg
name=
"y"
value=
"1.69884"
/>
<arg
name=
"yaw"
value=
"-2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_2"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.52616"
/>
<arg
name=
"y"
value=
"1.69884"
/>
<arg
name=
"yaw"
value=
"-0.785396"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_5"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.52616"
/>
<arg
name=
"y"
value=
"2.52116"
/>
<arg
name=
"yaw"
value=
"0.785396"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_6"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.47384"
/>
<arg
name=
"y"
value=
"2.52116"
/>
<arg
name=
"yaw"
value=
"2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_9"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.47384"
/>
<arg
name=
"y"
value=
"3.56384"
/>
<arg
name=
"yaw"
value=
"-2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_10"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.52616"
/>
<arg
name=
"y"
value=
"3.56384"
/>
<arg
name=
"yaw"
value=
"-0.785396"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_13"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.52617"
/>
<arg
name=
"y"
value=
"6.53616"
/>
<arg
name=
"yaw"
value=
"0.785396"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_14"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"2.47385"
/>
<arg
name=
"y"
value=
"6.53616"
/>
<arg
name=
"yaw"
value=
"2.35619"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_31"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"4.97388"
/>
<arg
name=
"y"
value=
"2.04138"
/>
<arg
name=
"yaw"
value=
"2.35628"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_32"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"4.97389"
/>
<arg
name=
"y"
value=
"1.98905"
/>
<arg
name=
"yaw"
value=
"-2.35611"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_7"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"3.54621"
/>
<arg
name=
"y"
value=
"2.09893"
/>
<arg
name=
"yaw"
value=
"-0.785316"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_8"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"3.5462"
/>
<arg
name=
"y"
value=
"2.15126"
/>
<arg
name=
"yaw"
value=
"0.78548"
/>
<arg
name=
"parent"
value=
"$(arg parent)"
/>
</include>
<include
file=
"$(find iri_sign_description)/launch/spawn_localization_sign.launch"
>
<arg
name=
"name"
value=
"locsign_19"
/>
<arg
name=
"tag"
value=
"alvar2_neg_1"
/>
<arg
name=
"x"
value=
"0.0261631"
/>
<arg
name=
"y"
value=
"1.98884"
/>