Commit c4705633 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Updated xodr and launch files to localization signs

parent 59cbf7da
...@@ -43,7 +43,9 @@ ...@@ -43,7 +43,9 @@
<objects> <objects>
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</objects> </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>
<road name="road1" length="2.0029700000000002e+01" id="1" junction="-1"> <road name="road1" length="2.0029700000000002e+01" id="1" junction="-1">
<link> <link>
...@@ -153,7 +155,11 @@ ...@@ -153,7 +155,11 @@
</parkingSpace> </parkingSpace>
</object> </object>
</objects> </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" />
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<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>
<road name="road3" length="2.0029700000000002e+01" id="3" junction="-1"> <road name="road3" length="2.0029700000000002e+01" id="3" junction="-1">
<link> <link>
...@@ -244,7 +250,9 @@ ...@@ -244,7 +250,9 @@
<objects> <objects>
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</objects> </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" />
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</road> </road>
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<link> <link>
...@@ -349,7 +357,11 @@ ...@@ -349,7 +357,11 @@
</parkingSpace> </parkingSpace>
</object> </object>
</objects> </objects>
<signals /> <signals>
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</road> </road>
<road name="road7" length="2.0029700000000002e+01" id="7" junction="-1"> <road name="road7" length="2.0029700000000002e+01" id="7" junction="-1">
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...@@ -470,7 +487,10 @@ ...@@ -470,7 +487,10 @@
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<signals /> <signals>
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<link> <link>
...@@ -620,7 +640,10 @@ ...@@ -620,7 +640,10 @@
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<signals /> <signals>
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<link> <link>
......
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</objects> </objects>
<signals> <signals>
<signal s="5.0000000000000000e+00" t="-6.0000000000000000e+00" id="1081" name="max50_8_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" /> <signal s="5.0000000000000000e+00" t="-5.0000000000000000e+00" id="1081" name="max50_8_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="1082" name="max50_7_2" 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="1082" name="max50_7_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="274" subtype="-1" value="5.0000000000000000e+01" />
<signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.5000000000000000e+01" t="-9.5000000000000000e+00" id="115" name="locsign15" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
<signal s="4.5000000000000000e+01" t="-9.5000000000000000e+00" id="114" name="locsign14" 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="102" name="locsign2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals> </signals>
</road> </road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1"> <road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
...@@ -562,12 +580,15 @@ ...@@ -562,12 +580,15 @@
</object> </object>
</objects> </objects>
<signals> <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="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="-6.0000000000000000e+00" id="1102" name="semaphore_10_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" 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="6.0000000000000000e+00" id="1103" name="semaphore_10_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000001" 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="-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="5.0000000000000000e+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="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="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="-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="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> </signals>
</road> </road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1"> <road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
...@@ -604,7 +625,8 @@ ...@@ -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" /> <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> </objects>
<signals> <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> </signals>
</road> </road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1"> <road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
...@@ -838,7 +860,9 @@ ...@@ -838,7 +860,9 @@
<objects> <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" /> <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> </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" />
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</road> </road>
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2"> <road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link> <link>
......
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road_x: 35
road_y: 37.8027
road_yaw: 0.0
road_image_size: 99.101
...@@ -2,4 +2,276 @@ ...@@ -2,4 +2,276 @@
<launch> <launch>
<arg name="parent" default="map"/> <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>