diff --git a/data/sample_parking/landmarks.txt b/data/sample_parking/landmarks.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f5d2b0d893b9e3828263d3c3bc0efb2206374ade
--- /dev/null
+++ b/data/sample_parking/landmarks.txt
@@ -0,0 +1,75 @@
+0.0 0.0 -0.5 0.0 0
+1.0 8.5 1.5 1.57 0
+2.0 7.5 6.6 -1.57 0
+3.0 7.5 4.0 1.57 0
+4.0 -1.5 6.5 -1.57 0
+5.0 -0.5 1.5 1.57 0
+6.0 4.0 4.2 1.57 0
+7.0 4.0 7.0 1.57 0
+8.0 3.0 1.0 -1.57 0
+9.0 4.0 1.5 1.57 0
+10.0 3.0 6.5 -1.57 0
+11.0 4.0 5.8 -1.57 0
+12.0 2.6 -0.5 3.14 0
+101.0 0.7 0.99 1.57 2
+102.0 1.7 0.99 1.57 2
+104.0 -0.01 2.5 0.0 2
+105.0 -0.01 3.5 0.0 2
+106.0 -0.01 4.5 0.0 2
+107.0 -0.01 5.5 0.0 2
+108.0 -0.01 6.5 0.0 2
+109.0 0.7 7.01 -1.57 2
+110.0 1.7 7.01 -1.57 2
+111.0 2.51 1.5 3.14 2
+112.0 2.51 2.5 3.14 2
+113.0 2.51 3.5 3.14 2
+114.0 2.51 4.5 3.14 2
+115.0 2.51 5.5 3.14 2
+117.0 6.3 0.99 1.57 2
+118.0 5.3 0.99 1.57 2
+120.0 4.49 2.5 0.0 2
+121.0 4.49 3.5 0.0 2
+122.0 6.3 4.01 -1.57 2
+123.0 5.3 4.01 -1.57 2
+124.0 7.01 1.5 3.14 2
+125.0 7.01 2.5 3.14 2
+126.0 7.01 3.5 3.14 2
+127.0 -1.0 -0.94 -1.57 2
+129.0 1.0 -0.94 -1.57 2
+130.0 2.0 -0.94 -1.57 2
+131.0 3.0 -0.94 -1.57 2
+132.0 4.0 -0.94 -1.57 2
+133.0 5.0 -0.94 -1.57 2
+134.0 6.0 -0.94 -1.57 2
+135.0 7.0 -0.94 -1.57 2
+136.0 8.0 -0.94 -1.57 2
+137.0 -1.0 8.94 1.57 2
+138.0 0.0 8.94 1.57 2
+139.0 1.0 8.94 1.57 2
+140.0 2.0 8.94 1.57 2
+141.0 3.0 8.94 1.57 2
+142.0 4.0 8.94 1.57 2
+143.0 5.0 8.94 1.57 2
+144.0 6.0 8.94 1.57 2
+145.0 7.0 8.94 1.57 2
+146.0 8.0 8.94 1.57 2
+147.0 -1.94 0.0 3.14 2
+148.0 -1.94 1.0 3.14 2
+149.0 -1.94 2.0 3.14 2
+150.0 -1.94 3.0 3.14 2
+151.0 -1.94 4.0 3.14 2
+152.0 -1.94 5.0 3.14 2
+153.0 -1.94 6.0 3.14 2
+154.0 -1.94 7.0 3.14 2
+155.0 -1.94 8.0 3.14 2
+156.0 8.94 0.0 0.0 2
+157.0 8.94 1.0 0.0 2
+158.0 8.94 2.0 0.0 2
+159.0 8.94 3.0 0.0 2
+160.0 8.94 4.0 0.0 2
+161.0 8.94 5.0 0.0 2
+162.0 8.94 6.0 0.0 2
+163.0 8.94 7.0 0.0 2
+164.0 8.94 8.0 0.0 2
+
+
diff --git a/launch/sample_parking/sample_parking_signals.launch b/launch/sample_parking/sample_parking_signals.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d3be69c6f3fc08e856e73fd2ea143208973198c1
--- /dev/null
+++ b/launch/sample_parking/sample_parking_signals.launch
@@ -0,0 +1,675 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="parent" default="map"/>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="parking_1001"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="parking"/>
+    <arg name="x"  value="0"/>
+    <arg name="y"  value="-0.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="max_50_1031"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="max_50"/>
+    <arg name="x"  value="8.5"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="4.71239"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="parking_1032"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="parking"/>
+    <arg name="x"  value="7.5"/>
+    <arg name="y"  value="6.6"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="parking_1033"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="parking"/>
+    <arg name="x"  value="7.5"/>
+    <arg name="y"  value="4"/>
+    <arg name="yaw"  value="4.71239"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="max_50_1081"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="max_50"/>
+    <arg name="x"  value="-1.5"/>
+    <arg name="y"  value="6.5"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="max_50_1082"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="max_50"/>
+    <arg name="x"  value="-0.5"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="4.71239"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="parking_1101"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="parking"/>
+    <arg name="x"  value="4"/>
+    <arg name="y"  value="4.2"/>
+    <arg name="yaw"  value="4.71239"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="giveway_1102"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="giveway"/>
+    <arg name="x"  value="4"/>
+    <arg name="y"  value="7"/>
+    <arg name="yaw"  value="4.71239"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="giveway_1103"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="giveway"/>
+    <arg name="x"  value="3"/>
+    <arg name="y"  value="1"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="max_50_1104"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="max_50"/>
+    <arg name="x"  value="4"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="4.71239"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="max_50_1105"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="max_50"/>
+    <arg name="x"  value="3"/>
+    <arg name="y"  value="6.5"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="parking_1106"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="parking"/>
+    <arg name="x"  value="4"/>
+    <arg name="y"  value="5.8"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="parking_1111"/>
+    <arg name="model"  value="sign"/>
+    <arg name="tag"  value="alvar0_neg_1"/>
+    <arg name="type"  value="parking"/>
+    <arg name="x"  value="2.6"/>
+    <arg name="y"  value="-0.5"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+<!-- Localization-->
+
+<!-- Cuadrado 1-->
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign1"/>
+    <arg name="x"  value="0.7"/>
+    <arg name="y"  value="0.99"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign2"/>
+    <arg name="x"  value="1.7"/>
+    <arg name="y"  value="0.99"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+  <!--<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign3"/>
+    <arg name="x"  value="-0.01"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>-->
+  
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign4"/>
+    <arg name="x"  value="-0.01"/>
+    <arg name="y"  value="2.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign5"/>
+    <arg name="x"  value="-0.01"/>
+    <arg name="y"  value="3.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign6"/>
+    <arg name="x"  value="-0.01"/>
+    <arg name="y"  value="4.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign7"/>
+    <arg name="x"  value="-0.01"/>
+    <arg name="y"  value="5.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign8"/>
+    <arg name="x"  value="-0.01"/>
+    <arg name="y"  value="6.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign9"/>
+    <arg name="x"  value="0.7"/>
+    <arg name="y"  value="7.01"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign10"/>
+    <arg name="x"  value="1.7"/>
+    <arg name="y"  value="7.01"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign11"/>
+    <arg name="x"  value="2.51"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+  
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign12"/>
+    <arg name="x"  value="2.51"/>
+    <arg name="y"  value="2.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign13"/>
+    <arg name="x"  value="2.51"/>
+    <arg name="y"  value="3.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign14"/>
+    <arg name="x"  value="2.51"/>
+    <arg name="y"  value="4.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign15"/>
+    <arg name="x"  value="2.51"/>
+    <arg name="y"  value="5.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <!--<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign16"/>
+    <arg name="x"  value="2.51"/>
+    <arg name="y"  value="6.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>-->
+
+<!-- Cuadrado 2-->
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign17"/>
+    <arg name="x"  value="6.3"/>
+    <arg name="y"  value="0.99"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign18"/>
+    <arg name="x"  value="5.3"/>
+    <arg name="y"  value="0.99"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+  <!--<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign19"/>
+    <arg name="x"  value="4.49"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>-->
+  
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign20"/>
+    <arg name="x"  value="4.49"/>
+    <arg name="y"  value="2.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign21"/>
+    <arg name="x"  value="4.49"/>
+    <arg name="y"  value="3.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign22"/>
+    <arg name="x"  value="6.3"/>
+    <arg name="y"  value="4.01"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign23"/>
+    <arg name="x"  value="5.3"/>
+    <arg name="y"  value="4.01"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign24"/>
+    <arg name="x"  value="7.01"/>
+    <arg name="y"  value="1.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+  
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign25"/>
+    <arg name="x"  value="7.01"/>
+    <arg name="y"  value="2.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign26"/>
+    <arg name="x"  value="7.01"/>
+    <arg name="y"  value="3.5"/>
+    <arg name="yaw"  value="0.0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+ 
+<!-- Exterior-->
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign27"/>
+    <arg name="x"  value="-1.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <!--<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign28"/>
+    <arg name="x"  value="0.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>-->
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign29"/>
+    <arg name="x"  value="1.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign30"/>
+    <arg name="x"  value="2.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign31"/>
+    <arg name="x"  value="3.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign32"/>
+    <arg name="x"  value="4.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign33"/>
+    <arg name="x"  value="5.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign34"/>
+    <arg name="x"  value="6.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign35"/>
+    <arg name="x"  value="7.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign36"/>
+    <arg name="x"  value="8.0"/>
+    <arg name="y"  value="-0.94"/>
+    <arg name="yaw"  value="1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+<include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign37"/>
+    <arg name="x"  value="-1.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign38"/>
+    <arg name="x"  value="0.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign39"/>
+    <arg name="x"  value="1.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign40"/>
+    <arg name="x"  value="2.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign41"/>
+    <arg name="x"  value="3.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign42"/>
+    <arg name="x"  value="4.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign43"/>
+    <arg name="x"  value="5.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign44"/>
+    <arg name="x"  value="6.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign45"/>
+    <arg name="x"  value="7.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign46"/>
+    <arg name="x"  value="8.0"/>
+    <arg name="y"  value="8.94"/>
+    <arg name="yaw"  value="-1.5708"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign47"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="0"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign48"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="1"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign49"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="2"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign50"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="3"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign51"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="4"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign52"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="5"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign53"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="6"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign54"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="7"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign55"/>
+    <arg name="x"  value="-1.94"/>
+    <arg name="y"  value="8"/>
+    <arg name="yaw"  value="0"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign56"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="0"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign57"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="1"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign58"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="2"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign59"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="3"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign60"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="4"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign61"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign62"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="6"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign63"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="7"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+
+  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+    <arg name="name"  value="locsign64"/>
+    <arg name="x"  value="8.94"/>
+    <arg name="y"  value="8"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
+  </include>
+</launch>