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Commit c947df95 authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the opendrive and map data.

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data/sample/sample.xodr
+ 1
− 0
View file @ c947df95
...@@ -40,6 +40,7 @@ ...@@ -40,6 +40,7 @@
</right> </right>
</laneSection> </laneSection>
</lanes> </lanes>
<objects />
<signals> <signals>
<signal s="1.0000000000000000e+01" t="-5.0000000000000000e+00" id="1001" name="pedestrian0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="350" subtype="-1" value="0.0000000000000000e+00" /> <signal s="1.0000000000000000e+01" t="-5.0000000000000000e+00" id="1001" name="pedestrian0_1" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="350" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.5000000000000000e+01" t="5.0000000000000000e+00" id="1002" name="pedestrian0_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="350" subtype="-1" value="0.0000000000000000e+00" /> <signal s="1.5000000000000000e+01" t="5.0000000000000000e+00" id="1002" name="pedestrian0_2" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="350" subtype="-1" value="0.0000000000000000e+00" />
......
data/sample_parking/sample_parking.xodr
+ 13
− 13
View file @ c947df95
...@@ -64,7 +64,7 @@ ...@@ -64,7 +64,7 @@
</object> </object>
</objects> </objects>
<signals> <signals>
<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="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" />
</signals> </signals>
</road> </road>
<road name="road1" length="2.5000000000000000e+01" id="1" junction="-1"> <road name="road1" length="2.5000000000000000e+01" id="1" junction="-1">
...@@ -219,9 +219,9 @@ ...@@ -219,9 +219,9 @@
</object> </object>
</objects> </objects>
<signals> <signals>
<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="5.0000000000000000e+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="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="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="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="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" />
</signals> </signals>
</road> </road>
<road name="road4" length="1.5707963270000000e+01" id="4" junction="-1"> <road name="road4" length="1.5707963270000000e+01" id="4" junction="-1">
...@@ -447,8 +447,8 @@ ...@@ -447,8 +447,8 @@
<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" /> <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> </objects>
<signals> <signals>
<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="5.0000000000000000e+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="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="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" />
</signals> </signals>
</road> </road>
<road name="road9" length="1.5707963270000000e+01" id="9" junction="-1"> <road name="road9" length="1.5707963270000000e+01" id="9" junction="-1">
...@@ -562,12 +562,12 @@ ...@@ -562,12 +562,12 @@
</object> </object>
</objects> </objects>
<signals> <signals>
<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="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="-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="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="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="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="-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="5.0000000000000000e+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="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="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="-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="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" />
</signals> </signals>
</road> </road>
<road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1"> <road name="juntion_0_-1_1_-1" length="2.0000000000000000e+01" id="1000" junction="1">
...@@ -604,7 +604,7 @@ ...@@ -604,7 +604,7 @@
<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" /> <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> </objects>
<signals> <signals>
<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+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" />
</signals> </signals>
</road> </road>
<road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1"> <road name="juntion_1_1_0_1" length="2.0000000000000000e+01" id="1001" junction="1">
......
launch/sample_parking/sample_parking_signals.launch deleted 100644 → 0
+ 0
− 675
View file @ 044abf74
<?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>
maps/lab_test/lab_test.yaml
+ 1
− 1
View file @ c947df95
image: /home/adc/iri_team_ws/src/iri_adc_launch/maps/lab_test/lab_test.pgm image: lab_test.pgm
resolution: 0.050000 resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000] origin: [-5.000000, -5.000000, 0.000000]
negate: 0 negate: 0
......
maps/sample/sample.pgm
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− 2
View file @ c947df95
No preview for this file type
maps/sample/sample.yaml
+ 1
− 1
View file @ c947df95
image: adc_map.pgm image: sample.pgm
resolution: 0.050000 resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000] origin: [-5.000000, -5.000000, 0.000000]
negate: 0 negate: 0
......
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