diff --git a/data/lab_test/lab_test.xodr b/data/lab_test/lab_test.xodr
index 491b2cc820ed1b3f439ee8022587f8d9d6283a37..276d95c7c0f270e5adcdca4ff10ab006789f913d 100644
--- a/data/lab_test/lab_test.xodr
+++ b/data/lab_test/lab_test.xodr
@@ -43,7 +43,9 @@
<objects>
<object s="4.8499999999999996e+00" t="-8.4000000000000004e+00" id="2005" name="wall1" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
- <signals />
+ <signals>
+ <signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="109" name="locsign9" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road1" length="2.0029700000000002e+01" id="1" junction="-1">
<link>
@@ -153,7 +155,11 @@
</parkingSpace>
</object>
</objects>
- <signals />
+ <signals>
+ <signal s="0.0000000000000000e+00" t="-7.4000000000000004e+00" id="115" name="locsign15" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="1.8600000000000001e+01" t="-7.4000000000000004e+00" id="114" name="locsign14" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="9.3000000000000007e+00" t="1.6000000000000000e+01" id="108" name="locsign8" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road3" length="2.0029700000000002e+01" id="3" junction="-1">
<link>
@@ -244,7 +250,9 @@
<objects>
<object s="4.8499999999999996e+00" t="-8.4000000000000004e+00" id="2006" name="wall2" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
- <signals />
+ <signals>
+ <signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road5" length="2.0029700000000002e+01" id="5" junction="-1">
<link>
@@ -349,7 +357,11 @@
</parkingSpace>
</object>
</objects>
- <signals />
+ <signals>
+ <signal s="1.8600000000000001e+01" t="-7.4000000000000004e+00" id="111" name="locsign11" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="0.0000000000000000e+00" t="-7.4000000000000004e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="9.3000000000000007e+00" t="1.2000000000000000e+01" id="106" name="locsign6" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road7" length="2.0029700000000002e+01" id="7" junction="-1">
<link>
@@ -435,7 +447,12 @@
<object s="6.8499999999999996e+00" t="-2.2050000000000001e+01" id="2010" name="obstacle2" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="7.0000000000000000e+00" width="2.9300000000000001e+01" height="2.0000000000000000e+00" />
<object s="5.0000000000000000e-01" t="-3.4450000000000003e+01" id="2011" name="obstacle3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.7000000000000002e+00" width="4.5000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
- <signals />
+ <signals>
+ <signal s="4.8499999999999996e+00" t="1.1250000000000000e+01" id="101" name="locsign1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
+ <signal s="4.8499999999999996e+00" t="3.5499999999999998e+00" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
+ <signal s="4.8499999999999996e+00" t="-7.4000000000000004e+00" id="105" name="locsign5" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
+ <signal s="4.8499999999999996e+00" t="-3.6600000000000001e+01" id="107" name="locsign7" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="junction_1_-1_2_-1" length="2.1098453127444021e+01" id="1000" junction="0">
<link>
@@ -470,7 +487,10 @@
<objects>
<object s="1.9850000000000001e+01" t="-8.4000000000000004e+00" id="2008" name="wall4" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
- <signals />
+ <signals>
+ <signal s="0.0000000000000000e+00" t="-7.4000000000000004e+00" id="116" name="locsign16" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="1.1000000000000001e+00" t="7.4000000000000004e+00" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="junction_2_1_1_1" length="2.1098453127444021e+01" id="1001" junction="0">
<link>
@@ -620,7 +640,10 @@
<objects>
<object s="1.2500000000000000e+00" t="-8.4000000000000004e+00" id="2007" name="wall3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="obstacle" hdg="1.5707000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.4000000000000000e+01" width="2.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
- <signals />
+ <signals>
+ <signal s="2.1100000000000001e+01" t="-7.4000000000000004e+00" id="110" name="locsign10" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ <signal s="2.1100000000000001e+01" t="7.4000000000000004e+00" id="102" name="locsign2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="junction_7_1_6_1" length="2.1100000000000001e+01" id="1005" junction="1">
<link>
diff --git a/data/lab_test/landmarks.txt b/data/lab_test/landmarks.txt
index 0a72fcbb6c98a3ffd5d805ed0103f3985307182c..02a5317fc3505e367872a09c640816ad13dd55bf 100644
--- a/data/lab_test/landmarks.txt
+++ b/data/lab_test/landmarks.txt
@@ -1,32 +1,32 @@
-101.0 1.374 1.0065 -0.7854 2
-102.0 1.426 1.0065 0.7854 2
-103.0 0.2015 1.484 -0.7854 2
-104.0 0.2015 1.536 -2.3562 2
-105.0 1.374 1.9735 -2.3562 2
-106.0 1.426 1.9735 2.3562 2
-107.0 2.3985 1.484 0.7854 2
-108.0 2.3985 1.536 2.3562 2
-109.0 1.374 2.9115 -0.7854 2
-110.0 1.426 2.9115 0.7854 2
-111.0 0.6715 4.429 -0.7854 2
-112.0 0.6715 4.481 -2.3562 2
-113.0 1.374 5.9985 -2.3562 2
-114.0 1.426 5.9985 2.3562 2
-115.0 1.5285 4.429 0.7854 2
-116.0 1.5285 4.481 2.3562 2
-117.0 1.374 -0.5215 -2.3562 2
-118.0 1.426 -0.5215 2.3562 2
-119.0 -1.2215 1.374 0.7854 2
-120.0 -1.2215 1.426 2.3562 2
-121.0 -1.2215 3.374 0.7854 2
-122.0 -1.2215 3.426 2.3562 2
-123.0 -1.2215 5.374 0.7854 2
-124.0 -1.2215 5.426 2.3562 2
-125.0 1.374 7.3215 -0.7854 2
-126.0 1.426 7.3215 0.7854 2
-127.0 3.8215 1.374 -0.7854 2
-128.0 3.8215 1.426 -2.3562 2
-129.0 3.8215 3.374 -0.7854 2
-130.0 3.8215 3.426 -2.3562 2
-131.0 3.8215 5.374 -0.7854 2
-132.0 3.8215 5.426 -2.3562 2
+101.000000 2.473834 1.698838 -0.785396 2
+102.000000 2.526160 1.698838 0.785401 2
+103.000000 1.453837 2.041163 -2.356194 2
+104.000000 1.453837 1.988837 -0.785398 2
+105.000000 2.526162 2.521164 2.356192 2
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+111.000000 1.913837 5.081163 -2.356194 2
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+118.000000 2.473837 0.026163 -2.356194 2
+119.000000 0.026163 1.988837 0.785403 2
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+121.000000 0.026163 4.098837 0.785403 2
+122.000000 0.026163 4.151163 2.356200 2
+123.000000 0.026163 5.958837 0.785403 2
+124.000000 0.026163 6.011163 2.356200 2
+125.000000 2.473839 7.973838 -0.785396 2
+126.000000 2.526165 7.973838 0.785401 2
+127.000000 4.974019 6.011094 -2.356291 2
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+129.000000 4.973840 4.151094 -2.356291 2
+130.000000 4.973835 4.098768 -0.785494 2
+131.000000 4.973885 2.041376 -2.356112 2
+132.000000 4.973889 1.989050 -0.785316 2
diff --git a/data/sample_parking/landmarks.txt b/data/sample_parking/landmarks.txt
index f5d2b0d893b9e3828263d3c3bc0efb2206374ade..21a000430892046ddd9227f33244304acfcc49fe 100644
--- a/data/sample_parking/landmarks.txt
+++ b/data/sample_parking/landmarks.txt
@@ -1,75 +1,53 @@
-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
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-137.0 -1.0 8.94 1.57 2
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-
-
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diff --git a/data/sample_parking/sample_parking.xodr b/data/sample_parking/sample_parking.xodr
index 2610ef16da37666e04318c47e04f397ac4b28381..8d2a1f60165e365adbcfcf5a96d981966d4c6279 100644
--- a/data/sample_parking/sample_parking.xodr
+++ b/data/sample_parking/sample_parking.xodr
@@ -64,7 +64,9 @@
</object>
</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="0.0000000000000000e+00" t="-5.0000000000000000e+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="" 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="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
@@ -107,7 +109,10 @@
</laneSection>
</lanes>
<objects />
- <signals />
+ <signals>
+ <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="107" name="locsign7" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" 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="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road2" length="1.5707963270000000e+01" id="2" junction="-1">
<link>
@@ -219,9 +224,12 @@
</object>
</objects>
<signals>
- <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="5.0000000000000000e+00" t="-5.0000000000000000e+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="5.0000000000000000e+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="5.0000000000000000e+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="" 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="" 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="" subtype="-1" value="5.0000000000000000e+01" />
</signals>
</road>
<road name="road4" length="1.5707963270000000e+01" id="4" junction="-1">
@@ -312,7 +320,10 @@
</laneSection>
</lanes>
<objects />
- <signals />
+ <signals>
+ <signal s="1.2500000000000000e+01" t="4.0000000000000000e+01" id="109" name="locsign9" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" 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="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road6" length="2.5000000000000000e+01" id="6" junction="-1">
<link>
@@ -354,7 +365,10 @@
</laneSection>
</lanes>
<objects />
- <signals />
+ <signals>
+ <signal s="1.2500000000000000e+01" t="1.0000000000000000e+01" id="104" name="locsign4" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="" 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="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="road7" length="1.5707963270000000e+01" id="7" junction="-1">
<link>
@@ -447,8 +461,12 @@
<object s="3.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter3" name="perimeter3" dynamic="no" orientation="none" zOffset="2.5000000000000000e+00" validLength="0.0000000000000000e+00" type="none" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="5.0000000000000000e+00" width="1.0000000000000000e+02" height="5.0000000000000000e+00" />
</objects>
<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="5.0000000000000000e+00" t="-5.0000000000000000e+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="5.0000000000000000e+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="" 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="" 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="" 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="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
@@ -562,12 +580,15 @@
</object>
</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="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="3.2000000000000000e+01" t="-5.0000000000000000e+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="-5.0000000000000000e+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="5.0000000000000000e+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="5.0000000000000000e+00" t="-5.0000000000000000e+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="5.0000000000000000e+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="-5.0000000000000000e+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="" 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="" 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="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
@@ -604,7 +625,8 @@
<object s="1.0000000000000000e+01" t="-1.2000000000000000e+01" id="perimeter0" name="perimeter0" 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+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="-5.0000000000000000e+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+01" t="-9.5000000000000000e+00" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
@@ -838,7 +860,9 @@
<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 />
+ <signals>
+ <signal s="1.0000000000000000e+01" t="-9.5000000000000000e+00" id="117" name="locsign17" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="" subtype="-1" value="0.0000000000000000e+00" />
+ </signals>
</road>
<road name="juntion_5_-1_10_1" length="1.5709921580400758e+01" id="1007" junction="2">
<link>
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index 81ad3b71a26da003737259bbaa30e2617e295e33..d9dfdbf74f29c6989a7a17759ae84e4f7d073872 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -6,13 +6,11 @@ Panels:
Expanded:
- /Global Options1
- /Models1
- - /Sensors1
- /Sensors1/Sonar1
- /Sensors1/outliers_scan1
- /Odometry1/(red)OdomEncoders(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
- /Odometry1/(green)OdomCombinedLocal1/Shape1
- - /Nav1
Splitter Ratio: 0.637188196182251
Tree Height: 794
- Class: rviz/Selection
@@ -91,6 +89,11 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ bodywork:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
front_camera_uvc_camera_base:
Alpha: 1
Show Axes: false
@@ -293,9 +296,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 0
Min Color: 0; 0; 0
- Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
@@ -323,9 +324,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 0
Min Color: 0; 0; 0
- Min Intensity: 0
Name: inliers_scan
Position Transformer: XYZ
Queue Size: 10
@@ -353,9 +352,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 193; 125; 17
- Max Intensity: 0
Min Color: 0; 0; 0
- Min Intensity: 0
Name: outliers_scan
Position Transformer: XYZ
Queue Size: 10
@@ -830,6 +827,42 @@ Visualization Manager:
Value: true
Enabled: true
Name: Nav
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /adc_car/front_iri_adc_tag_localization_filter/vis_features
+ Name: Front_features
+ Namespaces:
+ adc_car/front_camera_uvc_camera_optical_features: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /adc_car/rear_iri_adc_tag_localization_filter/vis_features
+ Name: Rear_features
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/landmarks
+ Name: Landmarks
+ Namespaces:
+ landmarks: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/frame_data
+ Name: Frame_data
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: true
+ Enabled: true
+ Name: Landmarks_localization
Enabled: true
Global Options:
Background Color: 48; 48; 48