diff --git a/data/sample_parking/landmarks.txt b/data/sample_parking/landmarks.txt
index a95dd4740046afdc183e710e965d8e479d7a853d..61446b290cbd617b9ba6e326888b0af00d024bee 100644
--- a/data/sample_parking/landmarks.txt
+++ b/data/sample_parking/landmarks.txt
@@ -1,44 +1,3 @@
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-102.000000 1.276163 0.973837 0.785398 2
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-104.000000 -0.026163 2.473837 -0.785398 2
-105.000000 -0.026163 5.526163 -2.356194 2
-106.000000 -0.026163 5.473837 -0.785398 2
-107.000000 1.276163 7.026163 2.356194 2
-108.000000 1.223837 7.026163 -2.356194 2
-109.000000 2.526163 5.473837 0.785398 2
-110.000000 2.526163 5.526163 2.356194 2
-111.000000 2.526163 2.473837 0.785398 2
-112.000000 2.526163 2.526163 2.356194 2
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-115.000000 4.473837 2.526163 -2.356194 2
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-117.000000 5.776163 4.026163 2.356194 2
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-119.000000 7.026163 2.473837 0.785398 2
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-121.000000 5.776163 -0.923837 2.356194 2
-122.000000 5.723837 -0.923837 -2.356194 2
-123.000000 3.526163 -0.923837 2.356194 2
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-127.000000 -1.923837 2.473837 0.785403 2
-128.000000 -1.923837 2.526163 2.356200 2
-129.000000 -1.923837 5.473837 0.785403 2
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-138.000000 8.923837 5.473837 -0.785398 2
-139.000000 8.923837 2.526163 -2.356194 2
-140.000000 8.923837 2.473837 -0.785398 2
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1001.000000 0.000000 -0.600000 -1.570796 0
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diff --git a/data/sample_parking/sample_parking.xodr b/data/sample_parking/sample_parking.xodr
index 6166182fc173b823fc2697adc303175294164e24..d1d3771342ff6480afb4658ab8f285f721306a17 100644
--- a/data/sample_parking/sample_parking.xodr
+++ b/data/sample_parking/sample_parking.xodr
@@ -65,8 +65,6 @@
</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="1.2500000000000000e+01" t="1.0000000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" 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="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
@@ -109,10 +107,7 @@
</laneSection>
</lanes>
<objects />
- <signals>
- <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="107" name="locsign7" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" 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="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="road2" length="1.5707963270000000e+01" id="2" junction="-1">
<link>
@@ -227,9 +222,6 @@
<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="1.5000000000000000e+01" t="1.0000000000000000e+01" id="110" name="locsign10" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="1.5000000000000000e+01" t="-9.5000000000000000e+00" id="120" name="locsign20" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="5.0000000000000000e+01" />
- <signal s="4.5000000000000000e+01" t="-9.5000000000000000e+00" id="119" name="locsign19" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="5.0000000000000000e+01" />
</signals>
</road>
<road name="road4" length="1.5707963270000000e+01" id="4" junction="-1">
@@ -320,10 +312,7 @@
</laneSection>
</lanes>
<objects />
- <signals>
- <signal s="1.2500000000000000e+01" t="4.0000000000000000e+01" id="109" name="locsign9" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="118" name="locsign18" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="road6" length="2.5000000000000000e+01" id="6" junction="-1">
<link>
@@ -365,10 +354,7 @@
</laneSection>
</lanes>
<objects />
- <signals>
- <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- <signal s="1.2500000000000000e+01" t="-9.5000000000000000e+00" id="116" name="locsign16" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="road7" length="1.5707963270000000e+01" id="7" junction="-1">
<link>
@@ -463,10 +449,6 @@
<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="5.5000000000000000e+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="1.5000000000000000e+01" t="1.0000000000000000e+01" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" 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="1000" 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="1000" 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="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
@@ -581,14 +563,11 @@
</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="semaphore_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="semaphore_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" />
- <signal s="1.5000000000000000e+01" t="1.0000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" 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="1000" 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="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
@@ -626,8 +605,6 @@
</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" />
- <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
@@ -861,9 +838,7 @@
<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>
- <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="117" name="locsign17" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
- </signals>
+ <signals />
</road>
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link>
@@ -1104,3 +1079,4 @@
</connection>
</junction>
</OpenDRIVE>
+
diff --git a/data/sample_parking_loc/landmarks.txt b/data/sample_parking_loc/landmarks.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a95dd4740046afdc183e710e965d8e479d7a853d
--- /dev/null
+++ b/data/sample_parking_loc/landmarks.txt
@@ -0,0 +1,54 @@
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diff --git a/data/sample_parking_loc/sample_parking_loc.png b/data/sample_parking_loc/sample_parking_loc.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f31c7abb7d19d78ae5603362d39d6213be9e8bc
Binary files /dev/null and b/data/sample_parking_loc/sample_parking_loc.png differ
diff --git a/data/sample_parking_loc/sample_parking_loc.xodr b/data/sample_parking_loc/sample_parking_loc.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..6166182fc173b823fc2697adc303175294164e24
--- /dev/null
+++ b/data/sample_parking_loc/sample_parking_loc.xodr
@@ -0,0 +1,1106 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
+ <header revMajor="1" revMinor="1" name="Testfile" version="1" date="Thu Feb 8 14:24:06 2007" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00" />
+ <road name="road0" length="2.5000000000000000e+01" id="0" junction="-1">
+ <link>
+ <predecessor elementType="road" elementId="9" contactPoint="end" />
+ <successor elementType="junction" elementId="1" contactPoint="end" />
+ </link>
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+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <left>
+ <lane id="1" type="driving" level="false">
+ <link />
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+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </left>
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects>
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+ <parkingSpace access="all" restrictions="none">
+ <marking side="front" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="rear" type="solid" width="1.4999999999999999e-01" color="standard" />
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+ <marking side="right" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="front" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="rear" type="solid" width="1.4999999999999999e-01" color="standard" />
+ </parkingSpace>
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+ <parkingSpace access="all" restrictions="none">
+ <marking side="front" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="rear" type="solid" width="1.4999999999999999e-01" color="standard" />
+ <marking side="right" type="solid" width="1.4999999999999999e-01" color="standard" />
+ </parkingSpace>
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+ </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" />
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+ </road>
+ <road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
+ <link>
+ <predecessor elementType="junction" elementId="1" contactPoint="end" />
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+ <elevationProfile />
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+ <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>
+ <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="117" name="locsign17" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
+ </road>
+ <road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
+ <link>
+ <predecessor elementType="road" elementId="5" contactPoint="end" />
+ <successor elementType="road" elementId="10" contactPoint="end" />
+ </link>
+ <type s="0.0000000000000000e+00" type="town" />
+ <planView>
+ <geometry s="0.0000000000000000e+00" x="4.5000000000000000e+01" y="7.9999999989744822e+01" hdg="3.1415926540000001e+00" length="1.0000000000000000e-03">
+ <spiral curvStart="0.0000000000000000e+00" curvEnd="1.0000026520325046e-01" />
+ </geometry>
+ <geometry s="1.0000000000000000e-03" x="4.4999000000000251e+01" y="7.9999999973077692e+01" hdg="3.1416426541326019e+00" length="1.5707795072416884e+01">
+ <arc curvature="1.0000026520325046e-01" />
+ </geometry>
+ <geometry s="1.5708795072416883e+01" x="3.4999526531330694e+01" y="6.9999653039344068e+01" hdg="4.7124263271326008e+00" length="1.0000000000000000e-03">
+ <spiral curvStart="1.0000026520325046e-01" curvEnd="0.0000000000000000e+00" />
+ </geometry>
+ <geometry s="1.5709795072416883e+01" x="3.4999526602010867e+01" y="6.9998653039346678e+01" hdg="4.7124763272652022e+00" length="1.2650798387525697e-04">
+ <line />
+ </geometry>
+ </planView>
+ <elevationProfile />
+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects />
+ <signals />
+ </road>
+ <road name="juntion_6_1_10_1" length="1.5710120345618366e+01" id="1008" junction="2">
+ <link>
+ <predecessor elementType="road" elementId="6" contactPoint="start" />
+ <successor elementType="road" elementId="10" contactPoint="end" />
+ </link>
+ <type s="0.0000000000000000e+00" type="town" />
+ <planView>
+ <geometry s="0.0000000000000000e+00" x="2.5000000000000000e+01" y="8.0000000000000000e+01" hdg="1.2653999999834298e-05" length="1.0000000000000000e-03">
+ <spiral curvStart="0.0000000000000000e+00" curvEnd="-9.9999000153067119e-02" />
+ </geometry>
+ <geometry s="1.0000000000000000e-03" x="2.5000999999999880e+01" y="7.9999999995987494e+01" hdg="-3.7345500076699277e-05" length="1.5708120327159305e+01">
+ <arc curvature="-9.9999000153067119e-02" />
+ </geometry>
+ <geometry s="1.5709120327159305e+01" x="3.5000726519984596e+01" y="6.9999526556482252e+01" hdg="-1.5708336725000767e+00" length="1.0000000000000000e-03">
+ <spiral curvStart="-9.9999000153067119e-02" curvEnd="0.0000000000000000e+00" />
+ </geometry>
+ <geometry s="1.5710120327159304e+01" x="3.5000726449305887e+01" y="6.9998526556484862e+01" hdg="-1.5708836720001531e+00" length="1.8459061834619206e-08">
+ <line />
+ </geometry>
+ </planView>
+ <elevationProfile />
+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects />
+ <signals />
+ </road>
+ <road name="juntion_6_1_5_1" length="2.0000000000000000e+01" id="1009" junction="2">
+ <link>
+ <predecessor elementType="road" elementId="6" contactPoint="start" />
+ <successor elementType="road" elementId="5" contactPoint="end" />
+ </link>
+ <type s="0.0000000000000000e+00" type="town" />
+ <planView>
+ <geometry s="0.0000000000000000e+00" x="2.5000000000000000e+01" y="8.0000000000000000e+01" hdg="1.2653999999834298e-05" length="2.0000000000000000e+01">
+ <line />
+ </geometry>
+ </planView>
+ <elevationProfile />
+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects />
+ <signals />
+ </road>
+ <road name="juntion_10_-1_5_1" length="1.5709921592724829e+01" id="1010" junction="2">
+ <link>
+ <predecessor elementType="road" elementId="10" contactPoint="end" />
+ <successor elementType="road" elementId="5" contactPoint="end" />
+ </link>
+ <type s="0.0000000000000000e+00" type="town" />
+ <planView>
+ <geometry s="0.0000000000000000e+00" x="3.4999999987693798e+01" y="7.0000000000000000e+01" hdg="1.5707963270000000e+00" length="1.0000000000000000e-03">
+ <spiral curvStart="0.0000000000000000e+00" curvEnd="-1.0000026549040329e-01" />
+ </geometry>
+ <geometry s="1.0000000000000000e-03" x="3.5000000004360302e+01" y="7.0000999999999749e+01" hdg="1.5707463268672548e+00" length="1.5707795027311636e+01">
+ <arc curvature="-1.0000026549040329e-01" />
+ </geometry>
+ <geometry s="1.5708795027311636e+01" x="4.5000346903226394e+01" y="8.0000473446107492e+01" hdg="-3.7346132745419425e-05" length="1.0000000000000000e-03">
+ <spiral curvStart="-1.0000026549040329e-01" curvEnd="0.0000000000000000e+00" />
+ </geometry>
+ <geometry s="1.5709795027311635e+01" x="4.5001346903223784e+01" y="8.0000473375427944e+01" hdg="-8.7346265490565649e-05" length="1.2656541319344683e-04">
+ <line />
+ </geometry>
+ </planView>
+ <elevationProfile />
+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects />
+ <signals />
+ </road>
+ <road name="juntion_10_-1_6_-1" length="1.5709921580249619e+01" id="1011" junction="2">
+ <link>
+ <predecessor elementType="road" elementId="10" contactPoint="end" />
+ <successor elementType="road" elementId="6" contactPoint="start" />
+ </link>
+ <type s="0.0000000000000000e+00" type="town" />
+ <planView>
+ <geometry s="0.0000000000000000e+00" x="3.4999999987693798e+01" y="7.0000000000000000e+01" hdg="1.5707963270000000e+00" length="1.8459305195506204e-08">
+ <line />
+ </geometry>
+ <geometry s="1.8459305195506204e-08" x="3.4999999987693798e+01" y="7.0000000018459303e+01" hdg="1.5707963270000000e+00" length="1.0000000000000000e-03">
+ <spiral curvStart="0.0000000000000000e+00" curvEnd="1.0000026552341455e-01" />
+ </geometry>
+ <geometry s="1.0000184593051955e-03" x="3.4999999971026881e+01" y="7.0001000018459052e+01" hdg="1.5708463271327617e+00" length="1.5707921561790315e+01">
+ <arc curvature="1.0000026552341455e-01" />
+ </geometry>
+ <geometry s="1.5708921580249619e+01" x="2.4999526531696123e+01" y="8.0000473451637035e+01" hdg="3.1416426541327618e+00" length="1.0000000000000000e-03">
+ <spiral curvStart="1.0000026552341455e-01" curvEnd="0.0000000000000000e+00" />
+ </geometry>
+ </planView>
+ <elevationProfile />
+ <lateralProfile />
+ <lanes>
+ <laneSection s="0.0000000000000000e+00">
+ <center>
+ <lane id="0" type="driving" level="false">
+ <link />
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="false">
+ <link />
+ <width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+ <speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects />
+ <signals />
+ </road>
+ <junction name="junction_1" id="1">
+ <connection id="1" incomingRoad="0" connectingRoad="1" contactPoint="end">
+ <laneLink from="-1" to="-1" />
+ </connection>
+ <connection id="2" incomingRoad="1" connectingRoad="0" contactPoint="start">
+ <laneLink from="1" to="1" />
+ </connection>
+ <connection id="3" incomingRoad="0" connectingRoad="10" contactPoint="end">
+ <laneLink from="-1" to="-1" />
+ </connection>
+ <connection id="4" incomingRoad="10" connectingRoad="0" contactPoint="start">
+ <laneLink from="1" to="1" />
+ </connection>
+ <connection id="5" incomingRoad="10" connectingRoad="1" contactPoint="start">
+ <laneLink from="1" to="-1" />
+ </connection>
+ <connection id="6" incomingRoad="1" connectingRoad="10" contactPoint="start">
+ <laneLink from="1" to="-1" />
+ </connection>
+ </junction>
+ <junction name="junction_2" id="2">
+ <connection id="1" incomingRoad="5" connectingRoad="6" contactPoint="end">
+ <laneLink from="-1" to="-1" />
+ </connection>
+ <connection id="2" incomingRoad="5" connectingRoad="10" contactPoint="end">
+ <laneLink from="-1" to="1" />
+ </connection>
+ <connection id="3" incomingRoad="6" connectingRoad="10" contactPoint="start">
+ <laneLink from="1" to="1" />
+ </connection>
+ <connection id="4" incomingRoad="6" connectingRoad="5" contactPoint="start">
+ <laneLink from="1" to="1" />
+ </connection>
+ <connection id="5" incomingRoad="10" connectingRoad="5" contactPoint="end">
+ <laneLink from="-1" to="1" />
+ </connection>
+ <connection id="6" incomingRoad="10" connectingRoad="6" contactPoint="end">
+ <laneLink from="-1" to="-1" />
+ </connection>
+ </junction>
+</OpenDRIVE>
diff --git a/data/sample_parking_loc/sample_parking_loc.yaml b/data/sample_parking_loc/sample_parking_loc.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..767d431d7def427cfaddad755070b9061c9ed501
--- /dev/null
+++ b/data/sample_parking_loc/sample_parking_loc.yaml
@@ -0,0 +1,4 @@
+road_x: 35
+road_y: 37.8027
+road_yaw: 0.0
+road_image_size: 99.101
diff --git a/launch/sample_parking/sample_parking_signals.launch b/launch/sample_parking/sample_parking_signals.launch
index 8cdcad402c390740cdcc3a92cb6da57ad79a7bf8..1ad5a5fbc09fa9a175e9ae3986210e1001587489 100644
--- a/launch/sample_parking/sample_parking_signals.launch
+++ b/launch/sample_parking/sample_parking_signals.launch
@@ -13,74 +13,6 @@
<arg name="parent" value="$(arg parent)"/>
</include>
- <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
- <arg name="name" value="generic_loc_1"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.22384"/>
- <arg name="y" value="0.973837"/>
- <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="generic_loc_2"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.27616"/>
- <arg name="y" value="0.973837"/>
- <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="generic_loc_25"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.27616"/>
- <arg name="y" value="-0.923837"/>
- <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="generic_loc_26"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.22384"/>
- <arg name="y" value="-0.923837"/>
- <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="generic_loc_13"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.72384"/>
- <arg name="y" value="0.973837"/>
- <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="generic_loc_14"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.77616"/>
- <arg name="y" value="0.973837"/>
- <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="generic_loc_21"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.77616"/>
- <arg name="y" value="-0.923837"/>
- <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="generic_loc_22"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.72384"/>
- <arg name="y" value="-0.923837"/>
- <arg name="yaw" value="2.35619"/>
- <arg name="parent" value="$(arg parent)"/>
- </include>
-
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1031"/>
<arg name="model" value="sign"/>
@@ -111,125 +43,6 @@
<arg name="parent" value="$(arg parent)"/>
</include>
- <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
- <arg name="name" value="generic_loc_19"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="7.02616"/>
- <arg name="y" value="2.47384"/>
- <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="generic_loc_20"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="7.02616"/>
- <arg name="y" value="2.52616"/>
- <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="generic_loc_39"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="8.92384"/>
- <arg name="y" value="2.52616"/>
- <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="generic_loc_40"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="8.92384"/>
- <arg name="y" value="2.47384"/>
- <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="generic_loc_37"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="8.92384"/>
- <arg name="y" value="5.52616"/>
- <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="generic_loc_38"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="8.92384"/>
- <arg name="y" value="5.47384"/>
- <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="generic_loc_17"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.77616"/>
- <arg name="y" value="4.02616"/>
- <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="generic_loc_18"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.72384"/>
- <arg name="y" value="4.02616"/>
- <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="generic_loc_35"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.72384"/>
- <arg name="y" value="8.92384"/>
- <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="generic_loc_36"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="5.77616"/>
- <arg name="y" value="8.92384"/>
- <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="generic_loc_7"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.27616"/>
- <arg name="y" value="7.02616"/>
- <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="generic_loc_8"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.22384"/>
- <arg name="y" value="7.02616"/>
- <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="generic_loc_31"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.22384"/>
- <arg name="y" value="8.92384"/>
- <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="generic_loc_32"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="1.27616"/>
- <arg name="y" value="8.92384"/>
- <arg name="yaw" value="-0.785393"/>
- <arg name="parent" value="$(arg parent)"/>
- </include>
-
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1081"/>
<arg name="model" value="sign"/>
@@ -250,74 +63,6 @@
<arg name="parent" value="$(arg parent)"/>
</include>
- <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
- <arg name="name" value="generic_loc_5"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-0.026163"/>
- <arg name="y" value="5.52616"/>
- <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="generic_loc_6"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-0.026163"/>
- <arg name="y" value="5.47384"/>
- <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="generic_loc_29"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-1.92384"/>
- <arg name="y" value="5.47384"/>
- <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="generic_loc_30"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-1.92384"/>
- <arg name="y" value="5.52616"/>
- <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="generic_loc_27"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-1.92384"/>
- <arg name="y" value="2.47384"/>
- <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="generic_loc_28"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-1.92384"/>
- <arg name="y" value="2.52616"/>
- <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="generic_loc_3"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-0.026163"/>
- <arg name="y" value="2.52616"/>
- <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="generic_loc_4"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="-0.026163"/>
- <arg name="y" value="2.47384"/>
- <arg name="yaw" value="-2.35619"/>
- <arg name="parent" value="$(arg parent)"/>
- </include>
-
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1101"/>
<arg name="model" value="sign"/>
@@ -328,20 +73,20 @@
<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"/>
@@ -378,57 +123,6 @@
<arg name="parent" value="$(arg parent)"/>
</include>
- <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
- <arg name="name" value="generic_loc_11"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="2.52616"/>
- <arg name="y" value="2.47384"/>
- <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="generic_loc_12"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="2.52616"/>
- <arg name="y" value="2.52616"/>
- <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="generic_loc_15"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="4.47384"/>
- <arg name="y" value="2.52616"/>
- <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="generic_loc_16"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="4.47384"/>
- <arg name="y" value="2.47384"/>
- <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="generic_loc_9"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="2.52616"/>
- <arg name="y" value="5.47384"/>
- <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="generic_loc_10"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="2.52616"/>
- <arg name="y" value="5.52616"/>
- <arg name="yaw" value="0.785398"/>
- <arg name="parent" value="$(arg parent)"/>
- </include>
-
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1111"/>
<arg name="model" value="sign"/>
@@ -438,49 +132,5 @@
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
-
- <include file="$(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="$(arg parent)"/>
- </include>
-
- <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
- <arg name="name" value="generic_loc_23"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="3.52616"/>
- <arg name="y" value="-0.923837"/>
- <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="generic_loc_24"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="3.47384"/>
- <arg name="y" value="-0.923837"/>
- <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="generic_loc_33"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="3.47384"/>
- <arg name="y" value="8.92384"/>
- <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="generic_loc_34"/>
- <arg name="tag" value="alvar2_neg_1"/>
- <arg name="x" value="3.52616"/>
- <arg name="y" value="8.92384"/>
- <arg name="yaw" value="-0.785393"/>
- <arg name="parent" value="$(arg parent)"/>
- </include>
</launch>
+
diff --git a/launch/sample_parking_loc/sample_parking_loc_objects.launch b/launch/sample_parking_loc/sample_parking_loc_objects.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c64f8bf9ae75456b232bbeddc122803ffaa841fd
--- /dev/null
+++ b/launch/sample_parking_loc/sample_parking_loc_objects.launch
@@ -0,0 +1,188 @@
+<?xml version="1.0"?>
+
+<launch>
+ <arg name="parent" default="map"/>
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking_0_1_1"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="0.5"/>
+ <arg name="y" value="-0.667"/>
+ <arg name="yaw" value="0"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking_0_2_2"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="1.3"/>
+ <arg name="y" value="-0.667"/>
+ <arg name="yaw" value="0"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking_0_3_3"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="2.1"/>
+ <arg name="y" value="-0.667"/>
+ <arg name="yaw" value="0"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="perimeter1_0"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.5"/>
+ <arg name="width" value="10"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="9.2"/>
+ <arg name="y" value="4"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking3_1_31"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="7.352"/>
+ <arg name="y" value="4.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking3_2_32"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="7.352"/>
+ <arg name="y" value="5.3"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking3_3_33"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="7.352"/>
+ <arg name="y" value="6.1"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="perimeter3_0"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.5"/>
+ <arg name="width" value="10"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="-2.2"/>
+ <arg name="y" value="4"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="object0_1100"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="2.5"/>
+ <arg name="width" value="6"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="1.25"/>
+ <arg name="y" value="4"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="object1_1101"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="2.5"/>
+ <arg name="width" value="3"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="5.75"/>
+ <arg name="y" value="2.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking10_1_1102"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="4.347"/>
+ <arg name="y" value="4.55"/>
+ <arg name="yaw" value="3.1417"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking10_2_1103"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="4.347"/>
+ <arg name="y" value="4.995"/>
+ <arg name="yaw" value="3.1417"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <!--
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="parking10_2_1104"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.25"/>
+ <arg name="width" value="0.6"/>
+ <arg name="height" value="0.15"/>
+ <arg name="x" value="4.347"/>
+ <arg name="y" value="5.44"/>
+ <arg name="yaw" value="3.1417"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ -->
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="perimeter0_0"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.5"/>
+ <arg name="width" value="12"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="3.5"/>
+ <arg name="y" value="-1.2"/>
+ <arg name="yaw" value="0"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="perimeter2_0"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="0.5"/>
+ <arg name="width" value="12"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="3.5"/>
+ <arg name="y" value="9.2"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+</launch>
diff --git a/launch/sample_parking_loc/sample_parking_loc_parkings.yaml b/launch/sample_parking_loc/sample_parking_loc_parkings.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1a3bfc968d068127fe74d3e9b4941bc8a28d588f
--- /dev/null
+++ b/launch/sample_parking_loc/sample_parking_loc_parkings.yaml
@@ -0,0 +1,37 @@
+parkings:
+ - id: parking_0_1_1
+ x: 0.5
+ y: -0.667
+ yaw: 0
+ - id: parking_0_2_2
+ x: 1.3
+ y: -0.667
+ yaw: 0
+ - id: parking_0_3_3
+ x: 2.1
+ y: -0.667
+ yaw: 0
+ - id: parking3_1_31
+ x: 7.352
+ y: 4.5
+ yaw: 1.5708
+ - id: parking3_2_32
+ x: 7.352
+ y: 5.3
+ yaw: 1.5708
+ - id: parking3_3_33
+ x: 7.352
+ y: 6.1
+ yaw: 1.5708
+ - id: parking10_1_1102
+ x: 4.347
+ y: 4.55
+ yaw: 3.1417
+ - id: parking10_2_1103
+ x: 4.347
+ y: 4.995
+ yaw: 3.1417
+ - id: parking10_2_1104
+ x: 4.347
+ y: 5.44
+ yaw: 3.1417
diff --git a/launch/sample_parking_loc/sample_parking_loc_signals.launch b/launch/sample_parking_loc/sample_parking_loc_signals.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8cdcad402c390740cdcc3a92cb6da57ad79a7bf8
--- /dev/null
+++ b/launch/sample_parking_loc/sample_parking_loc_signals.launch
@@ -0,0 +1,486 @@
+<?xml version="1.0"?>
+
+<launch>
+ <arg name="parent" default="map"/>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking_1001"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="0"/>
+ <arg name="y" value="-0.6"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+ <arg name="name" value="generic_loc_1"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.22384"/>
+ <arg name="y" value="0.973837"/>
+ <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="generic_loc_2"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.27616"/>
+ <arg name="y" value="0.973837"/>
+ <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="generic_loc_25"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.27616"/>
+ <arg name="y" value="-0.923837"/>
+ <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="generic_loc_26"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.22384"/>
+ <arg name="y" value="-0.923837"/>
+ <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="generic_loc_13"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.72384"/>
+ <arg name="y" value="0.973837"/>
+ <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="generic_loc_14"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.77616"/>
+ <arg name="y" value="0.973837"/>
+ <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="generic_loc_21"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.77616"/>
+ <arg name="y" value="-0.923837"/>
+ <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="generic_loc_22"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.72384"/>
+ <arg name="y" value="-0.923837"/>
+ <arg name="yaw" value="2.35619"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_1031"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="8.6"/>
+ <arg name="y" value="1.5"/>
+ <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="parking_1032"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="7.4"/>
+ <arg name="y" value="6.6"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking_1033"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="7.4"/>
+ <arg name="y" value="4"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+ <arg name="name" value="generic_loc_19"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="7.02616"/>
+ <arg name="y" value="2.47384"/>
+ <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="generic_loc_20"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="7.02616"/>
+ <arg name="y" value="2.52616"/>
+ <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="generic_loc_39"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="8.92384"/>
+ <arg name="y" value="2.52616"/>
+ <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="generic_loc_40"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="8.92384"/>
+ <arg name="y" value="2.47384"/>
+ <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="generic_loc_37"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="8.92384"/>
+ <arg name="y" value="5.52616"/>
+ <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="generic_loc_38"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="8.92384"/>
+ <arg name="y" value="5.47384"/>
+ <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="generic_loc_17"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.77616"/>
+ <arg name="y" value="4.02616"/>
+ <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="generic_loc_18"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.72384"/>
+ <arg name="y" value="4.02616"/>
+ <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="generic_loc_35"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.72384"/>
+ <arg name="y" value="8.92384"/>
+ <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="generic_loc_36"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="5.77616"/>
+ <arg name="y" value="8.92384"/>
+ <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="generic_loc_7"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.27616"/>
+ <arg name="y" value="7.02616"/>
+ <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="generic_loc_8"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.22384"/>
+ <arg name="y" value="7.02616"/>
+ <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="generic_loc_31"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.22384"/>
+ <arg name="y" value="8.92384"/>
+ <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="generic_loc_32"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="1.27616"/>
+ <arg name="y" value="8.92384"/>
+ <arg name="yaw" value="-0.785393"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_1081"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="-1.6"/>
+ <arg name="y" value="6.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_1082"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="-0.4"/>
+ <arg name="y" value="1.5"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+ <arg name="name" value="generic_loc_5"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-0.026163"/>
+ <arg name="y" value="5.52616"/>
+ <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="generic_loc_6"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-0.026163"/>
+ <arg name="y" value="5.47384"/>
+ <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="generic_loc_29"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-1.92384"/>
+ <arg name="y" value="5.47384"/>
+ <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="generic_loc_30"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-1.92384"/>
+ <arg name="y" value="5.52616"/>
+ <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="generic_loc_27"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-1.92384"/>
+ <arg name="y" value="2.47384"/>
+ <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="generic_loc_28"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-1.92384"/>
+ <arg name="y" value="2.52616"/>
+ <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="generic_loc_3"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-0.026163"/>
+ <arg name="y" value="2.52616"/>
+ <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="generic_loc_4"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="-0.026163"/>
+ <arg name="y" value="2.47384"/>
+ <arg name="yaw" value="-2.35619"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking_1101"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="4.1"/>
+ <arg name="y" value="4.2"/>
+ <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_1102"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="giveway"/>
+ <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"/>
+ <arg name="x" value="2.9"/>
+ <arg name="y" value="1"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_1104"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="4.1"/>
+ <arg name="y" value="1.5"/>
+ <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="max_50_1105"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="2.9"/>
+ <arg name="y" value="6.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking_1106"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="4.1"/>
+ <arg name="y" value="5.8"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+ <arg name="name" value="generic_loc_11"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="2.52616"/>
+ <arg name="y" value="2.47384"/>
+ <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="generic_loc_12"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="2.52616"/>
+ <arg name="y" value="2.52616"/>
+ <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="generic_loc_15"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="4.47384"/>
+ <arg name="y" value="2.52616"/>
+ <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="generic_loc_16"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="4.47384"/>
+ <arg name="y" value="2.47384"/>
+ <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="generic_loc_9"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="2.52616"/>
+ <arg name="y" value="5.47384"/>
+ <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="generic_loc_10"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="2.52616"/>
+ <arg name="y" value="5.52616"/>
+ <arg name="yaw" value="0.785398"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking_1111"/>
+ <arg name="model" value="sign"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="2.6"/>
+ <arg name="y" value="-0.6"/>
+ <arg name="yaw" value="0"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(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="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+ <arg name="name" value="generic_loc_23"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="3.52616"/>
+ <arg name="y" value="-0.923837"/>
+ <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="generic_loc_24"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="3.47384"/>
+ <arg name="y" value="-0.923837"/>
+ <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="generic_loc_33"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="3.47384"/>
+ <arg name="y" value="8.92384"/>
+ <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="generic_loc_34"/>
+ <arg name="tag" value="alvar2_neg_1"/>
+ <arg name="x" value="3.52616"/>
+ <arg name="y" value="8.92384"/>
+ <arg name="yaw" value="-0.785393"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+</launch>
diff --git a/maps/sample_parking_loc/sample_parking_loc.pgm b/maps/sample_parking_loc/sample_parking_loc.pgm
new file mode 100644
index 0000000000000000000000000000000000000000..7b1f7a63c2739454f87cef92cdba960c49dce7fe
--- /dev/null
+++ b/maps/sample_parking_loc/sample_parking_loc.pgm
@@ -0,0 +1,5 @@
+P5
+# CREATOR: GIMP PNM Filter Version 1.1
+416 416
+255
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