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mobile_robotics
ADC
ADC_2021
iri_adc_circuit_example
Commits
d9194277
Commit
d9194277
authored
Mar 26, 2021
by
Fernando Herrero
Browse files
Parking
parent
bd26125a
Changes
11
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data/sample.png
→
data/sample
/sample
.png
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d9194277
File moved
data/sample.xodr
→
data/sample
/sample
.xodr
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d9194277
File moved
data/sample.yaml
→
data/sample
/sample
.yaml
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d9194277
File moved
data/sample_parking/sample_parking.png
0 → 100644
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d9194277
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data/sample_parking/sample_parking.xodr
0 → 100644
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d9194277
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data/sample_parking/sample_parking.yaml
0 → 100644
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d9194277
road_x
:
35
road_y
:
37.8027
road_yaw
:
0.0
road_image_size
:
99.101
launch/sample_objects.launch
→
launch/sample
/sample
_objects.launch
View file @
d9194277
File moved
launch/sample_signals.launch
→
launch/sample
/sample
_signals.launch
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d9194277
File moved
launch/sample_parking/sample_parking_objects.launch
0 → 100644
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d9194277
<?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/sample_parking_parkings.yaml
0 → 100644
View file @
d9194277
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
launch/sample_parking/sample_parking_signals.launch
0 → 100644
View file @
d9194277
<?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>
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