diff --git a/data/sample.png b/data/sample/sample.png similarity index 100% rename from data/sample.png rename to data/sample/sample.png diff --git a/data/sample.xodr b/data/sample/sample.xodr similarity index 100% rename from data/sample.xodr rename to data/sample/sample.xodr diff --git a/data/sample.yaml b/data/sample/sample.yaml similarity index 100% rename from data/sample.yaml rename to data/sample/sample.yaml diff --git a/data/sample_parking/sample_parking.png b/data/sample_parking/sample_parking.png new file mode 100644 index 0000000000000000000000000000000000000000..0f31c7abb7d19d78ae5603362d39d6213be9e8bc Binary files /dev/null and b/data/sample_parking/sample_parking.png differ diff --git a/data/sample_parking/sample_parking.xodr b/data/sample_parking/sample_parking.xodr new file mode 100644 index 0000000000000000000000000000000000000000..c2707abd4dac19947f6031ecb7a1a87e57fc2b81 --- /dev/null +++ b/data/sample_parking/sample_parking.xodr @@ -0,0 +1,1081 @@ +<?xml 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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" /> + 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</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/sample_parking.yaml b/data/sample_parking/sample_parking.yaml new file mode 100644 index 0000000000000000000000000000000000000000..767d431d7def427cfaddad755070b9061c9ed501 --- /dev/null +++ b/data/sample_parking/sample_parking.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_objects.launch b/launch/sample/sample_objects.launch similarity index 100% rename from launch/sample_objects.launch rename to launch/sample/sample_objects.launch diff --git a/launch/sample_signals.launch b/launch/sample/sample_signals.launch similarity index 100% rename from launch/sample_signals.launch rename to launch/sample/sample_signals.launch diff --git a/launch/sample_parking/sample_parking_objects.launch b/launch/sample_parking/sample_parking_objects.launch new file mode 100644 index 0000000000000000000000000000000000000000..c64f8bf9ae75456b232bbeddc122803ffaa841fd --- /dev/null +++ b/launch/sample_parking/sample_parking_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/sample_parking_parkings.yaml b/launch/sample_parking/sample_parking_parkings.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d8cc0364ab440903920bf33abbc3a65c7098350 --- /dev/null +++ b/launch/sample_parking/sample_parking_parkings.yaml @@ -0,0 +1,37 @@ +parkings: + - id: parking_0_1_1 + x: 0.5 + y: -0.667 + yaw: 1.5708 + - id: parking_0_2_2 + x: 1.3 + y: -0.667 + yaw: 1.5708 + - id: parking_0_3_3 + x: 2.1 + y: -0.667 + yaw: 1.5708 + - id: parking3_1_31 + x: 7.352 + y: 4.5 + yaw: 3.14159 + - id: parking3_2_32 + x: 7.352 + y: 5.3 + yaw: 3.14159 + - id: parking3_3_33 + x: 7.352 + y: 6.1 + yaw: 3.14159 + - id: parking10_1_1102 + x: 4.347 + y: 4.55 + yaw: 4.71249 + - id: parking10_2_1103 + x: 4.347 + y: 4.995 + yaw: 4.71249 + - id: parking10_2_1104 + x: 4.347 + y: 5.44 + yaw: 4.71249 diff --git a/launch/sample_parking/sample_parking_signals.launch b/launch/sample_parking/sample_parking_signals.launch new file mode 100644 index 0000000000000000000000000000000000000000..734eba21db526f4a91f116494fb7e49579efd3a5 --- /dev/null +++ b/launch/sample_parking/sample_parking_signals.launch @@ -0,0 +1,148 @@ +<?xml version="1.0"?> + +<launch> + <arg name="parent" default="map"/> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="parking_1001"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="parking"/> + <arg name="x" value="0"/> + <arg name="y" value="-0.5"/> + <arg name="yaw" value="3.14159"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="max_50_1031"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="max_50"/> + <arg name="x" value="8.5"/> + <arg name="y" value="1.5"/> + <arg name="yaw" value="4.71239"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="parking_1032"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="parking"/> + <arg name="x" value="7.5"/> + <arg name="y" value="6.6"/> + <arg name="yaw" value="1.5708"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="parking_1033"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="parking"/> + <arg name="x" value="7.5"/> + <arg name="y" value="4"/> + <arg name="yaw" value="4.71239"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="max_50_1081"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="max_50"/> + <arg name="x" value="-1.5"/> + <arg name="y" value="6.5"/> + <arg name="yaw" value="1.5708"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="max_50_1082"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="max_50"/> + <arg name="x" value="-0.5"/> + <arg name="y" value="1.5"/> + <arg name="yaw" value="4.71239"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="parking_1101"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="parking"/> + <arg name="x" value="4"/> + <arg name="y" value="4.2"/> + <arg name="yaw" value="4.71239"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="giveway_1102"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="giveway"/> + <arg name="x" value="4"/> + <arg name="y" value="7"/> + <arg name="yaw" value="4.71239"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="giveway_1103"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="giveway"/> + <arg name="x" value="3"/> + <arg name="y" value="1"/> + <arg name="yaw" value="1.5708"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="max_50_1104"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="max_50"/> + <arg name="x" value="4"/> + <arg name="y" value="1.5"/> + <arg name="yaw" value="4.71239"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="max_50_1105"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="max_50"/> + <arg name="x" value="3"/> + <arg name="y" value="6.5"/> + <arg name="yaw" value="1.5708"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="parking_1106"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="parking"/> + <arg name="x" value="4"/> + <arg name="y" value="5.8"/> + <arg name="yaw" value="1.5708"/> + <arg name="parent" value="$(arg parent)"/> + </include> + + <include file="$(find iri_sign_description)/launch/spawn_sign.launch"> + <arg name="name" value="parking_1111"/> + <arg name="model" value="sign"/> + <arg name="tag" value="alvar0"/> + <arg name="type" value="parking"/> + <arg name="x" value="2.6"/> + <arg name="y" value="-0.5"/> + <arg name="yaw" value="0"/> + <arg name="parent" value="$(arg parent)"/> + </include> +</launch>