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Commit c4705633 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated xodr and launch files to localization signs

parent 59cbf7da
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data/lab_test/lab_test.xodr
View file @ c4705633
......@@ -43,7 +43,9 @@
<objects>
<object s="4.8499999999999996e+00" t="-8.4000000000000004e+00" id="2005" name="wall1" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
<signals />
<signals>
<signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="109" name="locsign9" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</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="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.8600000000000001e+01" t="-7.4000000000000004e+00" id="114" name="locsign14" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="9.3000000000000007e+00" t="1.6000000000000000e+01" id="108" name="locsign8" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road3" length="2.0029700000000002e+01" id="3" junction="-1">
<link>
......@@ -244,7 +250,9 @@
<objects>
<object s="4.8499999999999996e+00" t="-8.4000000000000004e+00" id="2006" name="wall2" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
<signals />
<signals>
<signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</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="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="0.0000000000000000e+00" t="-7.4000000000000004e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="9.3000000000000007e+00" t="1.2000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road7" length="2.0029700000000002e+01" id="7" junction="-1">
<link>
......@@ -435,7 +447,12 @@
<object s="6.8499999999999996e+00" t="-2.2050000000000001e+01" id="2010" name="obstacle2" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="7.0000000000000000e+00" width="2.9300000000000001e+01" height="2.0000000000000000e+00" />
<object s="5.0000000000000000e-01" t="-3.4450000000000003e+01" id="2011" name="obstacle3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.7000000000000002e+00" width="4.5000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
<signals />
<signals>
<signal s="4.8499999999999996e+00" t="1.1250000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
<signal s="4.8499999999999996e+00" t="3.5499999999999998e+00" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
<signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="105" name="locsign5" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
<signal s="4.8499999999999996e+00" t="-3.6600000000000001e+01" id="107" name="locsign7" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="junction_1_-1_2_-1" length="2.1098453127444021e+01" id="1000" junction="0">
<link>
......@@ -470,7 +487,10 @@
<objects>
<object s="1.9850000000000001e+01" t="-8.4000000000000004e+00" id="2008" name="wall4" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
<signals />
<signals>
<signal s="0.0000000000000000e+00" t="-7.4000000000000004e+00" id="116" name="locsign16" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.1000000000000001e+00" t="7.4000000000000004e+00" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</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="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
<signals />
<signals>
<signal s="2.1100000000000001e+01" t="-7.4000000000000004e+00" id="110" name="locsign10" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1100000000000001e+01" t="7.4000000000000004e+00" id="102" name="locsign2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</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 -0.7854 2
102.0 1.426 1.0065 0.7854 2
103.0 0.2015 1.484 -0.7854 2
104.0 0.2015 1.536 -2.3562 2
105.0 1.374 1.9735 -2.3562 2
106.0 1.426 1.9735 2.3562 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 -0.7854 2
110.0 1.426 2.9115 0.7854 2
111.0 0.6715 4.429 -0.7854 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 2.3562 2
115.0 1.5285 4.429 0.7854 2
116.0 1.5285 4.481 2.3562 2
117.0 1.374 -0.5215 -2.3562 2
118.0 1.426 -0.5215 2.3562 2
119.0 -1.2215 1.374 0.7854 2
120.0 -1.2215 1.426 2.3562 2
121.0 -1.2215 3.374 0.7854 2
122.0 -1.2215 3.426 2.3562 2
123.0 -1.2215 5.374 0.7854 2
124.0 -1.2215 5.426 2.3562 2
125.0 1.374 7.3215 -0.7854 2
126.0 1.426 7.3215 0.7854 2
127.0 3.8215 1.374 -0.7854 2
128.0 3.8215 1.426 -2.3562 2
129.0 3.8215 3.374 -0.7854 2
130.0 3.8215 3.426 -2.3562 2
131.0 3.8215 5.374 -0.7854 2
132.0 3.8215 5.426 -2.3562 2
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117.000000 2.526163 0.026163 2.356194 2
118.000000 2.473837 0.026163 -2.356194 2
119.000000 0.026163 1.988837 0.785403 2
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121.000000 0.026163 4.098837 0.785403 2
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131.000000 4.973885 2.041376 -2.356112 2
132.000000 4.973889 1.989050 -0.785316 2
data/sample_parking/landmarks.txt 0 → 100644
View file @ c4705633
101.000000 1.223837 0.973837 -0.785398 2
102.000000 1.276163 0.973837 0.785398 2
103.000000 -0.026163 2.526163 -2.356194 2
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1111.000000 2.600000 -0.500000 1.570796 0
data/sample_parking/sample_parking.xodr
View file @ c4705633
......@@ -64,7 +64,9 @@
</object>
</objects>
<signals>
<signal s="0.0000000000000000e+00" t="-6.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="0.0000000000000000e+00" t="-5.0000000000000000e+00" id="1001" name="parking0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
......@@ -107,7 +109,10 @@
</laneSection>
</lanes>
<objects />
<signals />
<signals>
<signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="107" name="locsign7" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="111" name="locsign11" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road2" length="1.5707963270000000e+01" id="2" junction="-1">
<link>
......@@ -219,9 +224,12 @@
</object>
</objects>
<signals>
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1031" name="max50_3_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.6000000000000000e+01" t="6.0000000000000000e+00" id="1032" name="parking_3_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="3.0000000000000000e+01" t="6.0000000000000000e+00" id="1033" name="parking_3_2" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.0000000000000000e+00" t="-5.0000000000000000e+00" id="1031" name="max50_3_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="5.6000000000000000e+01" t="5.0000000000000000e+00" id="1032" name="parking_3_1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="3.0000000000000000e+01" t="5.0000000000000000e+00" id="1033" name="parking_3_2" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="110" name="locsign10" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="5.0000000000000000e+01" />
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</signals>
</road>
<road name="road4" length="1.5707963270000000e+01" id="4" junction="-1">
......@@ -312,7 +320,10 @@
</laneSection>
</lanes>
<objects />
<signals />
<signals>
<signal s="1.2500000000000000e+01" t="4.0000000000000000e+01" id="109" name="locsign9" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
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</signals>
</road>
<road name="road6" length="2.5000000000000000e+01" id="6" junction="-1">
<link>
......@@ -354,7 +365,10 @@
</laneSection>
</lanes>
<objects />
<signals />
<signals>
<signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
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</signals>
</road>
<road name="road7" length="1.5707963270000000e+01" id="7" junction="-1">
<link>
......@@ -447,8 +461,12 @@
<object s="3.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter3" name="perimeter3" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="none" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.0000000000000000e+02" height="5.0000000000000000e+00" />
</objects>
<signals>
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</signals>
</road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
......@@ -562,12 +580,15 @@
</object>
</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" />
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<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" />
<signal s="3.2000000000000000e+01" t="-5.0000000000000000e+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="-5.0000000000000000e+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="5.0000000000000000e+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="5.0000000000000000e+00" t="-5.0000000000000000e+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="5.0000000000000000e+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="-5.0000000000000000e+00" id="1106" name="parking_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="314" subtype="-1" value="5.0000000000000000e+01" />
<signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.5000000000000000e+01" t="-1.0000000000000000e+01" id="108" name="locsign8" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="4.5000000000000000e+01" t="1.0000000000000000e+01" id="105" name="locsign5" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
......@@ -604,7 +625,8 @@
<object s="1.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter0" name="perimeter0" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.2000000000000000e+02" height="5.0000000000000000e+00" />
</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="-5.0000000000000000e+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+01" t="-9.5000000000000000e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
......@@ -838,7 +860,9 @@
<objects>
<object s="1.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter2" name="perimeter2" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.2000000000000000e+02" height="5.0000000000000000e+00" />
</objects>
<signals />
<signals>
<signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="117" name="locsign17" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link>
......
data/sample_parking/sample_parking_loc_signs.png deleted 100644 → 0
View file @ 59cbf7da
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data/sample_parking/sample_parking_loc_signs.xodr deleted 100644 → 0
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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 name="parent" default="map"/>
<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
<arg name="name" value="locsign_17"/>
<arg name="tag" value="alvar2_neg_1"/>
<arg name="x" value="2.52616"/>
<arg name="y" value="0.026163"/>
<arg name="yaw" value="0.785398"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
<arg name="name" value="locsign_18"/>
<arg name="tag" value="alvar2_neg_1"/>
<arg name="x" value="2.47384"/>
<arg name="y" value="0.026163"/>
<arg name="yaw" value="2.35619"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
<arg name="name" value="locsign_29"/>
<arg name="tag" value="alvar2_neg_1"/>
<arg name="x" value="4.97384"/>
<arg name="y" value="4.15109"/>
<arg name="yaw" value="2.3561"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
<arg name="name" value="locsign_30"/>
<arg name="tag" value="alvar2_neg_1"/>
<arg name="x" value="4.97383"/>
<arg name="y" value="4.09877"/>
<arg name="yaw" value="-2.35629"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
<arg name="name" value="locsign_27"/>
<arg name="tag" value="alvar2_neg_1"/>
<arg name="x" value="4.97402"/>
<arg name="y" value="6.01109"/>
<arg name="yaw" value="2.3561"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
<arg name="name" value="locsign_28"/>
<arg name="tag" value="alvar2_neg_1"/>
<arg name="x" value="4.97401"/>
<arg name="y" value="5.95877"/>
<arg name="yaw" value="-2.35629"/>
<arg name="parent" value="$(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"/>