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Commit c4b4dde8 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Added sample_parking_loc. Sample_parking back to pre localization signs version

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data/sample_parking/landmarks.txt
+ 0
− 41
View file @ c4b4dde8
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
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
113.000000 5.723837 0.973837 -0.785398 2
114.000000 5.776163 0.973837 0.785398 2
115.000000 4.473837 2.526163 -2.356194 2
116.000000 4.473837 2.473837 -0.785398 2
117.000000 5.776163 4.026163 2.356194 2
118.000000 5.723837 4.026163 -2.356194 2
119.000000 7.026163 2.473837 0.785398 2
120.000000 7.026163 2.526163 2.356194 2
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
124.000000 3.473837 -0.923837 -2.356194 2
125.000000 1.276163 -0.923837 2.356194 2
126.000000 1.223837 -0.923837 -2.356194 2
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
130.000000 -1.923837 5.526163 2.356200 2
131.000000 1.223837 8.923837 -0.785393 2
132.000000 1.276163 8.923837 0.785403 2
133.000000 3.473837 8.923837 -0.785393 2
134.000000 3.526163 8.923837 0.785403 2
135.000000 5.723837 8.923837 -0.785393 2
136.000000 5.776163 8.923837 0.785403 2
137.000000 8.923837 5.526163 -2.356194 2
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
201.000000 2.600000 -0.800000 -1.570796 3
1001.000000 0.000000 -0.600000 -1.570796 0
1031.000000 8.600000 1.500000 0.000000 0
1032.000000 7.400000 6.600000 -3.141593 0
......
data/sample_parking/sample_parking.xodr
+ 7
− 31
View file @ c4b4dde8
......@@ -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>
data/sample_parking_loc/landmarks.txt 0 → 100644
+ 54
− 0
View file @ c4b4dde8
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
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
113.000000 5.723837 0.973837 -0.785398 2
114.000000 5.776163 0.973837 0.785398 2
115.000000 4.473837 2.526163 -2.356194 2
116.000000 4.473837 2.473837 -0.785398 2
117.000000 5.776163 4.026163 2.356194 2
118.000000 5.723837 4.026163 -2.356194 2
119.000000 7.026163 2.473837 0.785398 2
120.000000 7.026163 2.526163 2.356194 2
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
124.000000 3.473837 -0.923837 -2.356194 2
125.000000 1.276163 -0.923837 2.356194 2
126.000000 1.223837 -0.923837 -2.356194 2
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
130.000000 -1.923837 5.526163 2.356200 2
131.000000 1.223837 8.923837 -0.785393 2
132.000000 1.276163 8.923837 0.785403 2
133.000000 3.473837 8.923837 -0.785393 2
134.000000 3.526163 8.923837 0.785403 2
135.000000 5.723837 8.923837 -0.785393 2
136.000000 5.776163 8.923837 0.785403 2
137.000000 8.923837 5.526163 -2.356194 2
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
201.000000 2.600000 -0.800000 -1.570796 3
1001.000000 0.000000 -0.600000 -1.570796 0
1031.000000 8.600000 1.500000 0.000000 0
1032.000000 7.400000 6.600000 -3.141593 0
1033.000000 7.400000 4.000000 0.000000 0
1081.000000 -1.600000 6.500000 -3.141587 0
1082.000000 -0.400000 1.500000 -0.000000 0
1101.000000 4.100000 4.200000 0.000000 0
1102.000000 4.100000 7.000000 0.000000 0
1103.000000 2.900000 1.000000 -3.141593 0
1104.000000 4.100000 1.500000 0.000000 0
1105.000000 2.900000 6.500000 -3.141593 0
1106.000000 4.100000 5.800000 -3.141593 0
1111.000000 2.600000 -0.600000 1.570796 0
data/sample_parking_loc/sample_parking_loc.png 0 → 100644
+ 0
− 0
View file @ c4b4dde8
image diff could not be displayed: it is too large. Options to address this: view the blob.
data/sample_parking_loc/sample_parking_loc.xodr 0 → 100644
+ 1106
− 0
View file @ c4b4dde8
This diff is collapsed.
data/sample_parking_loc/sample_parking_loc.yaml 0 → 100644
+ 4
− 0
View file @ c4b4dde8
road_x: 35
road_y: 37.8027
road_yaw: 0.0
road_image_size: 99.101
launch/sample_parking/sample_parking_signals.launch
+ 9
− 359
View file @ c4b4dde8
......@@ -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="$(arg parent)"/>
</include>
</launch>
launch/sample_parking_loc/sample_parking_loc_objects.launch 0 → 100644
+ 188
− 0
View file @ c4b4dde8
<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<!--
<include file="$(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="$(arg parent)"/>
</include>
</launch>
launch/sample_parking_loc/sample_parking_loc_parkings.yaml 0 → 100644
+ 37
− 0
View file @ c4b4dde8
parkings:
- id: parking_0_1_1
x: 0.5
y: -0.667
yaw: 0
- id: parking_0_2_2
x: 1.3
y: -0.667
yaw: 0
- id: parking_0_3_3
x: 2.1
y: -0.667
yaw: 0
- id: parking3_1_31
x: 7.352
y: 4.5
yaw: 1.5708
- id: parking3_2_32
x: 7.352
y: 5.3
yaw: 1.5708
- id: parking3_3_33
x: 7.352
y: 6.1
yaw: 1.5708
- id: parking10_1_1102
x: 4.347
y: 4.55
yaw: 3.1417
- id: parking10_2_1103
x: 4.347
y: 4.995
yaw: 3.1417
- id: parking10_2_1104
x: 4.347
y: 5.44
yaw: 3.1417
launch/sample_parking_loc/sample_parking_loc_signals.launch 0 → 100644
+ 486
− 0
View file @ c4b4dde8
<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<include file="$(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>
maps/sample_parking_loc/sample_parking_loc.pgm 0 → 100644
+ 5
− 0
View file @ c4b4dde8
This diff is collapsed.
maps/sample_parking_loc/sample_parking_loc.yaml 0 → 100644
+ 7
− 0
View file @ c4b4dde8
image: sample_parking.pgm
resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
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