spawn_test.launch 2.37 KB
Newer Older
1
2
<?xml version="1.0"?>

Sergi Hernandez's avatar
Sergi Hernandez committed
3
<launch>
4
  <arg name="gazebo" default="true"/>
Sergi Hernandez's avatar
Sergi Hernandez committed
5
  <arg name="parent" default="map"/>
6
7
8
9
10
11
12
13
14
15
  
  <arg name="world_name" default="worlds/empty.world"/>
  <arg name="gui"   default="true"/>

  <group if="$(arg gazebo)">
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
      <arg name="world_name" value="$(arg world_name)"/>
      <arg name="gui" value="$(arg gui)"/>
    </include>
  </group>
Sergi Hernandez's avatar
Sergi Hernandez committed
16

17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
  <include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
    <arg name="name"  value="semaphore1"/>
    <arg name="initial_state"  value="false"/>
    <arg name="x"  value="0.7"/>
    <arg name="y"  value="0.1"/>
    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  
  <include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
    <arg name="name"  value="semaphore2"/>
    <arg name="initial_state"  value="true"/>
    <arg name="x"  value="0.7"/>
    <arg name="y"  value="-0.1"/>
    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>

35
  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
    <arg name="name"  value="sign1"/>
    <arg name="type"  value="stop"/>
    <arg name="x"  value="0.7"/>
    <arg name="y"  value="-0.3"/>
    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  
    <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
    <arg name="name"  value="sign2"/>
    <arg name="type"  value="parking"/>
    <arg name="x"  value="0.7"/>
    <arg name="y"  value="-0.5"/>
    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  
  <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
    <arg name="name"  value="locsign1"/>
    <arg name="x"  value="0.7"/>
    <arg name="y"  value="0.3"/>
    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
  </include>
  
  <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
    <arg name="name"  value="unique_loc_sign1"/>
    <arg name="type"  value="world_negative"/>
64
    <arg name="tag"   value="alvar3_neg_1"/>
65
66
67
68
    <arg name="x"  value="0.7"/>
    <arg name="y"  value="0.5"/>
    <arg name="yaw"  value="3.14159"/>
    <arg name="parent"  value="$(arg parent)"/>
Sergi Hernandez's avatar
Sergi Hernandez committed
69
70
71
  </include>

</launch>