Commit b5f8528e authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Merge branch 'master' of...

Merge branch 'master' of https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_road_description
parents 08519c85 9727f888
......@@ -13,7 +13,7 @@ roscd && cd ../src
Clone the repository:
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/simulator/iri_road_description.git
git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_road_description.git
```
Install all ROS dependencies with the following commands:
......@@ -36,7 +36,7 @@ An example road image can be download from [here](https://drive.google.com/file/
To generate new road images, follow the next steps:
* Create a new road or edit an existing one using the [OpenRoadEd](https://gitlab.iri.upc.edu/mobile_robotics/adc/openroaded) tool. See the documentation on this link for more information.
* Create a new road or edit an existing one using the [OpenRoadEd](https://gitlab.iri.upc.edu/mobile_robotics/adc/libraries/openroaded) tool. See the documentation on this link for more information.
* Create an image of the desired road using the take screenshot tool of the OpenRoadEd application. Together with the image, a YAML file is generated with the followng information:
* **offset in x**: (in meters) position of the origin of the road with respect of the center of the image in the x direction.
* **offset in y**: (in meters) position of the origin of the road with respect of the center of the image in the y direction.
......@@ -46,6 +46,7 @@ To generate new road images, follow the next steps:
<img align="center" src="docs/images/ppi_conv.gif" alt="Equation to compute the required ppi of the image" width="201" height="42">
* If you want to generate a scaled version of the orginal road, in the previous equation, use the road size from the YAML file scaled by the desired value. For example, if we want to create a 1:8 scale road, divide by 8 the actual road size.
* To change the ppi of the original image, execute the following command (both the original and modified images must be PNG):
```
convert <original_image> -density <new_ppi_value> -units PixelsPerInch <modified_image>
......@@ -62,8 +63,8 @@ This package file includes a launch file named spawn_road.launch which is intend
* **road_name**: (default=road) name of the road image to be used (without the .png extension). This name will also be used to name the nodes and topics associated with the road description.
* **road_size**: (default=15.0) size of the road in meters. At the moment only square road images are supported. This value can be taken from the YAML file.
* **road_path**: (default=$(env HOME)/Downloads) path where the road image is located. It must be and absolute path.
* **x** (default=0.0) x position where the road will placed in the simulated environment with respect to the parent frame. This value can be taken from the YAML file.
* **y** (default=0.0) y position where the road will placed in the simulated environment with respect to the parent frame. This value can be taken from the YAML file.
* **x** (default=0.0) x position where the road will placed in the simulated environment with respect to the parent frame. This value can be taken from the YAML file. If you generated a scaled version of the original road, divide the YAML file value by the scale factor.
* **y** (default=0.0) y position where the road will placed in the simulated environment with respect to the parent frame. This value can be taken from the YAML file. If you generated a scaled version of the original road, divide the YAML file value by the scale factor.
* **yaw** (default=0.0) orientation of the road with respect to the parent frame. This value should normally be 1.5707 radians.
* **parent** (default=map) parent reference frame used to place the road in the simulated environment.
......
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