diff --git a/launch/spawn_semaphore.launch b/launch/spawn_semaphore.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6581c325de24d8d84ad4e61a4ef21902f3eb2f72
--- /dev/null
+++ b/launch/spawn_semaphore.launch
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="name" default="semaphore"/>
+ <arg name="model" default="semaphore"/>
+ <arg name="tag" default="alvar0"/>
+ <arg name="x" default="0.5"/>
+ <arg name="y" default="-0.5"/>
+ <arg name="yaw" default="3.14159"/>
+ <arg name="parent" default="map"/>
+
+ <param name="$(arg name)_description"
+ command="$(find xacro)/xacro '$(find iri_sign_description)/urdf/$(arg model).xacro'
+ name:=$(arg name)
+ tag:=$(arg tag)">
+ </param>
+
+ <node name="$(arg name)_state_publisher"
+ pkg ="robot_state_publisher"
+ type="robot_state_publisher">
+ <!--<param name="tf_prefix" value="/$(arg name)" type="str" />-->
+ <remap from="robot_description" to="$(arg name)_description" />
+ <remap from="/joint_states" to="/$(arg name)/joint_states" />
+ </node>
+
+ <node name="spawn_urdf_$(arg name)"
+ pkg ="gazebo_ros"
+ type="spawn_model"
+ args="-param /$(arg name)_description -urdf -model $(arg name) -x $(arg x) -y $(arg y) -z 0 -Y $(arg yaw)">
+ </node>
+
+ <node name="static_tf_$(arg name)_base_link_to_$(arg parent)" pkg="tf" type="static_transform_publisher"
+ args="$(arg x) $(arg y) 0 $(arg yaw) 0 0 $(arg parent) $(arg name)_base_link 100">
+ </node>
+
+</launch>
diff --git a/meshes/semaphore_case.dae b/meshes/semaphore_case.dae
new file mode 100644
index 0000000000000000000000000000000000000000..f2e6d25f1bbaa960d868f732bbccac6708621483
--- /dev/null
+++ b/meshes/semaphore_case.dae
@@ -0,0 +1,254 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.79.0</authoring_tool>
+ </contributor>
+ <created>2021-04-09T12:26:53</created>
+ <modified>2021-04-09T12:26:53</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera-camera" name="Camera">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ <extra>
+ <technique profile="blender">
+ <shiftx sid="shiftx" type="float">0</shiftx>
+ <shifty sid="shifty" type="float">0</shifty>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.001">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ <extra>
+ <technique profile="blender">
+ <shiftx sid="shiftx" type="float">0</shiftx>
+ <shifty sid="shifty" type="float">0</shifty>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp-light" name="Lamp">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <type sid="type" type="int">0</type>
+ <flag sid="flag" type="int">0</flag>
+ <mode sid="mode" type="int">8192</mode>
+ <gamma sid="blender_gamma" type="float">1</gamma>
+ <red sid="red" type="float">1</red>
+ <green sid="green" type="float">1</green>
+ <blue sid="blue" type="float">1</blue>
+ <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+ <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+ <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+ <energy sid="blender_energy" type="float">1</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
+ <att2 sid="att2" type="float">1</att2>
+ <falloff_type sid="falloff_type" type="int">2</falloff_type>
+ <clipsta sid="clipsta" type="float">1.000799</clipsta>
+ <clipend sid="clipend" type="float">30.002</clipend>
+ <bias sid="bias" type="float">1</bias>
+ <soft sid="soft" type="float">3</soft>
+ <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+ <bufsize sid="bufsize" type="int">2880</bufsize>
+ <samp sid="samp" type="int">3</samp>
+ <buffers sid="buffers" type="int">1</buffers>
+ <filtertype sid="filtertype" type="int">0</filtertype>
+ <bufflag sid="bufflag" type="int">0</bufflag>
+ <buftype sid="buftype" type="int">2</buftype>
+ <ray_samp sid="ray_samp" type="int">1</ray_samp>
+ <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+ <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+ <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+ <area_shape sid="area_shape" type="int">1</area_shape>
+ <area_size sid="area_size" type="float">0.1</area_size>
+ <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+ <area_sizez sid="area_sizez" type="float">1</area_sizez>
+ <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+ <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+ <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+ <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+ <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+ <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+ <spread sid="spread" type="float">1</spread>
+ <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+ <sun_size sid="sun_size" type="float">1</sun_size>
+ <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+ <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+ <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+ <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+ <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+ <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+ <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+ <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+ </technique>
+ </extra>
+ </light>
+ <light id="Lamp_001-light" name="Lamp.001">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <type sid="type" type="int">0</type>
+ <flag sid="flag" type="int">0</flag>
+ <mode sid="mode" type="int">8192</mode>
+ <gamma sid="blender_gamma" type="float">1</gamma>
+ <red sid="red" type="float">1</red>
+ <green sid="green" type="float">1</green>
+ <blue sid="blue" type="float">1</blue>
+ <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+ <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+ <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+ <energy sid="blender_energy" type="float">1</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
+ <att2 sid="att2" type="float">1</att2>
+ <falloff_type sid="falloff_type" type="int">2</falloff_type>
+ <clipsta sid="clipsta" type="float">1.000799</clipsta>
+ <clipend sid="clipend" type="float">30.002</clipend>
+ <bias sid="bias" type="float">1</bias>
+ <soft sid="soft" type="float">3</soft>
+ <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+ <bufsize sid="bufsize" type="int">2880</bufsize>
+ <samp sid="samp" type="int">3</samp>
+ <buffers sid="buffers" type="int">1</buffers>
+ <filtertype sid="filtertype" type="int">0</filtertype>
+ <bufflag sid="bufflag" type="int">0</bufflag>
+ <buftype sid="buftype" type="int">2</buftype>
+ <ray_samp sid="ray_samp" type="int">1</ray_samp>
+ <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+ <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+ <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+ <area_shape sid="area_shape" type="int">1</area_shape>
+ <area_size sid="area_size" type="float">0.1</area_size>
+ <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+ <area_sizez sid="area_sizez" type="float">1</area_sizez>
+ <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
+ <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+ <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+ <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+ <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+ <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+ <spread sid="spread" type="float">1</spread>
+ <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+ <sun_size sid="sun_size" type="float">1</sun_size>
+ <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+ <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+ <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+ <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+ <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+ <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+ <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+ <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_images/>
+ <library_geometries>
+ <geometry id="Semaphor_Case_001-mesh" name="Semaphor Case.001">
+ <mesh>
+ <source id="Semaphor_Case_001-mesh-positions">
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10820 315 10819 315 10109 20502 10819 20502 10820 20502 10110 20500 10819 20500 10109 20500 10044 315 10821 315 10820 315 10105 20503 10820 20503 10821 20503 10109 20504 10820 20504 10105 20504 10046 315 10822 315 10821 315 10107 20505 10821 20505 10822 20505 10044 315 10046 315 10821 315 10105 20506 10821 20506 10107 20506 10046 315 10823 315 10822 315 10106 20507 10822 20507 10823 20507 10107 20505 10822 20505 10106 20505 9981 315 10824 315 10823 315 10103 20508 10823 20508 10824 20508 10046 315 9981 315 10823 315 10106 20507 10823 20507 10103 20507 9981 315 10825 315 10824 315 10104 20509 10824 20509 10825 20509 10103 20508 10824 20508 10104 20508 9981 315 10826 315 10825 315 10099 20510 10825 20510 10826 20510 10104 20509 10825 20509 10099 20509 9982 315 10827 315 10826 315 10102 20511 10826 20511 10827 20511 9981 315 9982 315 10826 315 10099 20512 10826 20512 10102 20512 9982 315 10828 315 10827 315 10101 20513 10827 20513 10828 20513 10102 20514 10827 20514 10101 20514 9982 315 10829 315 10828 315 10100 20515 10828 20515 10829 20515 10101 20513 10828 20513 10100 20513 9982 315 10830 315 10829 315 10096 20516 10829 20516 10830 20516 10100 20517 10829 20517 10096 20517 9982 315 10831 315 10830 315 10098 20518 10830 20518 10831 20518 10096 20519 10830 20519 10098 20519 9982 315 10832 315 10831 315 10097 20520 10831 20520 10832 20520 10098 20521 10831 20521 10097 20521 10487 315 10833 315 10832 315 10094 20522 10832 20522 10833 20522 9982 315 10487 315 10832 315 10097 20523 10832 20523 10094 20523 10487 315 10834 315 10833 315 10095 20524 10833 20524 10834 20524 10094 20525 10833 20525 10095 20525 10487 315 10835 315 10834 315 10092 20526 10834 20526 10835 20526 10095 20527 10834 20527 10092 20527 10487 315 10836 315 10835 315 10093 20528 10835 20528 10836 20528 10092 20529 10835 20529 10093 20529 10837 315 10838 315 10836 315 10090 20530 10836 20530 10838 20530 10487 315 10837 315 10836 315 10093 20531 10836 20531 10090 20531 10837 315 10839 315 10838 315 10091 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10855 315 10857 315 10856 315 10141 20578 10856 20578 10857 20578 10140 20579 10019 20579 10856 20579 10141 20580 10140 20580 10856 20580 10138 20581 10857 20581 10855 20581 10138 20582 10141 20582 10857 20582 10134 20583 10855 20583 10014 20583 10136 20584 10138 20584 10855 20584 10134 20585 10136 20585 10855 20585 10016 20586 10134 20586 10014 20586 9989 20587 9996 20587 10841 20587 10130 20588 10841 20588 10837 20588 10133 20589 9989 20589 10841 20589 10130 20590 10133 20590 10841 20590 10267 20591 10837 20591 10487 20591 10221 20592 10837 20592 10267 20592 10131 20593 10130 20593 10837 20593 10127 20594 10131 20594 10837 20594 10128 20595 10127 20595 10837 20595 10221 20596 10128 20596 10837 20596 10171 20597 10487 20597 9982 20597</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_controllers/>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera" name="Camera" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera-camera"/>
+ </node>
+ <node id="Lamp" name="Lamp" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp-light"/>
+ </node>
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ <node id="Semaphor_Case" name="Semaphor_Case" type="NODE">
+ <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Semaphor_Case_001-mesh" name="Semaphor_Case"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/meshes/semaphore_case.stl b/meshes/semaphore_case.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b0ec4a5f197501e30146e4c184dd2e245c728b19
Binary files /dev/null and b/meshes/semaphore_case.stl differ
diff --git a/meshes/semaphore_case0.stl b/meshes/semaphore_case0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0714d48129a380725e4b9596dcd4365e7dec743f
Binary files /dev/null and b/meshes/semaphore_case0.stl differ
diff --git a/meshes/semaphore_light.stl b/meshes/semaphore_light.stl
new file mode 100644
index 0000000000000000000000000000000000000000..341f300b29fe185518ff39d851f1565ad8889a6d
Binary files /dev/null and b/meshes/semaphore_light.stl differ
diff --git a/meshes/sign.stl b/meshes/sign.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6654de53acb5dbd1784edd2bc9cbf511c2c4654f
Binary files /dev/null and b/meshes/sign.stl differ
diff --git a/meshes/sign0.stl b/meshes/sign0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8862169ce6e7a3a04239e9d1367727c19bc5afe0
Binary files /dev/null and b/meshes/sign0.stl differ
diff --git a/urdf/semaphore.xacro b/urdf/semaphore.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..982a1ae7a8c4d05295345b967b2ccda056d866ec
--- /dev/null
+++ b/urdf/semaphore.xacro
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="$(arg name)" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/signs/semaphore_macro.xacro" />
+
+ <xacro:semaphore name="$(arg name)"
+ tag_dae="$(arg tag)">
+ </xacro:semaphore>
+
+</robot>
diff --git a/urdf/signs/dae/alvar0_negative.dae b/urdf/signs/dae/alvar0_negative.dae
new file mode 100644
index 0000000000000000000000000000000000000000..85dd51dfd593c76084fcae88a182b4a780de8e05
--- /dev/null
+++ b/urdf/signs/dae/alvar0_negative.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/alvar0_negative.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1 1 1 1</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0 0 0 1</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="image-lib" name="image">
+ <mesh>
+ <source id="image-POSITION">
+ <float_array id="image-POSITION-array" count="12">
+ -0.5 -0.5 0
+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
+ </float_array>
+ <technique_common>
+ <accessor source="#image-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-Normal0">
+ <float_array id="image-Normal0-array" count="18">
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ </float_array>
+ <technique_common>
+ <accessor source="#image-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-UV0">
+ <float_array id="image-UV0-array" count="8">
+ 0 0
+ 1 0
+ 0 1
+ 1 1
+ </float_array>
+ <!--
+ 0.000499 0.000500
+ 0.999500 0.000499
+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
+ <technique_common>
+ <accessor source="#image-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="image-VERTEX">
+ <input semantic="POSITION" source="#image-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36">
+ <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+ <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
+ <visibility>1</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/urdf/signs/dae/alvar1_negative.dae b/urdf/signs/dae/alvar1_negative.dae
new file mode 100644
index 0000000000000000000000000000000000000000..7e86df5aa6a398dcbd1247a403754740c5a30f6f
--- /dev/null
+++ b/urdf/signs/dae/alvar1_negative.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/alvar1_negative.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1 1 1 1</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0 0 0 1</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="image-lib" name="image">
+ <mesh>
+ <source id="image-POSITION">
+ <float_array id="image-POSITION-array" count="12">
+ -0.5 -0.5 0
+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
+ </float_array>
+ <technique_common>
+ <accessor source="#image-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-Normal0">
+ <float_array id="image-Normal0-array" count="18">
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ </float_array>
+ <technique_common>
+ <accessor source="#image-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-UV0">
+ <float_array id="image-UV0-array" count="8">
+ 0 0
+ 1 0
+ 0 1
+ 1 1
+ </float_array>
+ <!--
+ 0.000499 0.000500
+ 0.999500 0.000499
+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
+ <technique_common>
+ <accessor source="#image-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="image-VERTEX">
+ <input semantic="POSITION" source="#image-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36">
+ <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+ <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
+ <visibility>1</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/urdf/signs/dae/png/alvar0_negative.png b/urdf/signs/dae/png/alvar0_negative.png
new file mode 100644
index 0000000000000000000000000000000000000000..9394d2d205df0e368306c5682160cd39ae3466cb
Binary files /dev/null and b/urdf/signs/dae/png/alvar0_negative.png differ
diff --git a/urdf/signs/dae/png/alvar1_negative.png b/urdf/signs/dae/png/alvar1_negative.png
new file mode 100644
index 0000000000000000000000000000000000000000..103fae42eb5d6c96908417335694ba5020e8682f
Binary files /dev/null and b/urdf/signs/dae/png/alvar1_negative.png differ
diff --git a/urdf/signs/dae/png/qr_loc88b.png b/urdf/signs/dae/png/qr_loc88b.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a55e47e1578222bf7bdcd25b37610bcdd6f0836
Binary files /dev/null and b/urdf/signs/dae/png/qr_loc88b.png differ
diff --git a/urdf/signs/semaphore_macro.xacro b/urdf/signs/semaphore_macro.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..9e21268091f45b158de3a8445e65fb383a0220e0
--- /dev/null
+++ b/urdf/signs/semaphore_macro.xacro
@@ -0,0 +1,136 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/materials.xacro" />
+
+ <xacro:property name="PI" value="3.1415926535897931" />
+ <xacro:property name="box_width" value="0.07" />
+ <xacro:property name="box_depth" value="0.07" />
+ <xacro:property name="box_height" value="0.175" />
+ <xacro:property name="box_material" value="white" />
+ <xacro:property name="tag_size" value="0.05" />
+ <xacro:property name="tag_z_offset" value="0.065" />
+ <xacro:property name="delta" value="0.0001" />
+ <xacro:property name="top_panel_width" value="0.05" />
+ <xacro:property name="top_panel_height" value="0.05" />
+ <xacro:property name="top_panel_z_offset" value="0.12" />
+
+ <xacro:macro name="semaphore"
+ params="name:=semaphore
+ tag_dae:=alvar0_negative
+ box_gazebo_material:=Gazebo/Black
+ light_gazebo_material:=Gazebo/Green
+ light_gazebo_material2:=Gazebo/Red">
+
+ <link name="${name}_base_link">
+ <visual>
+ <geometry>
+ <!--<box size="${box_depth} ${box_width} ${box_height}"/>-->
+ <mesh filename="package://iri_sign_description/meshes/semaphore_case.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://iri_sign_description/meshes/semaphore_case.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_base_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_light_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ </visual>
+ <visual>
+ <origin xyz="-0.042 0 0" rpy="0 0 3.14159" />
+ <geometry>
+ <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_light_link">
+<!-- <material>${light_gazebo_material}</material> -->
+
+ <visual>
+ <plugin name="${name}_color_plugin" filename="libcolor_plugin.so" >
+ <material>${light_gazebo_material}</material>
+ <material2>${light_gazebo_material2}</material2>
+ </plugin>
+ </visual>
+
+ </gazebo>
+
+ <joint name="joint_${name}_base_link_to_${name}_light_link" type="fixed">
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <parent link="${name}_base_link"/>
+ <child link="${name}_light_link" />
+ </joint>
+
+ <link name="${name}_tag_link">
+ <inertial>
+ <mass value="0.001"/>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+ </inertial>
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_tag_link" type="fixed">
+ <origin xyz="${delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 0 0" />
+ <parent link="${name}_base_link"/>
+ <child link="${name}_tag_link" />
+ </joint>
+
+ <gazebo reference="${name}_tag_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${tag_dae}.dae" scale="${tag_size} 1.0 ${tag_size}"/>
+ </geometry>
+ </visual>
+ </link>
+
+ <joint name="joint_${name}_tag_link_to_${name}_tag_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_tag_link"/>
+ <child link="${name}_tag_image" />
+ </joint>
+
+ <gazebo reference="${name}_tag_image">
+ </gazebo>
+
+ <gazebo>
+ <static>true</static>
+ </gazebo>
+
+ <!--
+ <gazebo>
+ <plugin name="${name}_ground_truth" filename="libgazebo_ros_p3d.so">
+ <frameName>map</frameName>
+ <bodyName>${name}_base_link</bodyName>
+ <topicName>${name}_odom_ground_truth</topicName>
+ <updateRate>5.0</updateRate>
+ </plugin>
+ </gazebo>
+ -->
+
+ </xacro:macro>
+
+</root>
diff --git a/urdf/signs/sign_macro.xacro b/urdf/signs/sign_macro.xacro
index ed1590c4cf63218ca02e125db3249c94fc1bfc32..f2abcd6dbc7d92b179637b5e1a68894e53ed2d0d 100644
--- a/urdf/signs/sign_macro.xacro
+++ b/urdf/signs/sign_macro.xacro
@@ -9,32 +9,31 @@
<xacro:property name="box_depth" value="0.07" />
<xacro:property name="box_height" value="0.175" />
<xacro:property name="box_material" value="white" />
- <xacro:property name="box_gazebo_material" value="Gazebo/White" />
<xacro:property name="tag_size" value="0.05" />
- <xacro:property name="tag_z_offset" value="0.065" />
+ <xacro:property name="tag_z_offset" value="0.04" />
<xacro:property name="delta" value="0.0001" />
<xacro:property name="top_panel_width" value="0.05" />
<xacro:property name="top_panel_height" value="0.05" />
- <xacro:property name="top_panel_z_offset" value="0.12" />
+ <xacro:property name="top_panel_z_offset" value="0.10" />
<xacro:macro name="sign"
params="name:=sign
- tag_dae:=alvar0
+ tag_dae:=alvar0_negative
top_panel_dae:=stop
- box_gazebo_material:=Gazebo/White">
+ box_gazebo_material:=Gazebo/Black
+ light_gazebo_material:=Gazebo/Black">
<link name="${name}_base_link">
<visual>
- <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
<geometry>
- <box size="${box_depth} ${box_width} ${box_height}"/>
+ <!--<box size="${box_depth} ${box_width} ${box_height}"/>-->
+ <mesh filename="package://iri_sign_description/meshes/semaphore_case.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="${box_material}"/>
</visual>
<collision>
- <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
<geometry>
- <box size="${box_depth} ${box_width} ${box_height}"/>
+ <mesh filename="package://iri_sign_description/meshes/semaphore_case.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@@ -42,6 +41,31 @@
<gazebo reference="${name}_base_link">
<material>${box_gazebo_material}</material>
</gazebo>
+
+ <link name="${name}_light_link">
+ <visual>
+ <geometry>
+ <!--<box size="${box_depth} ${box_width} ${box_height}"/>-->
+ <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_light_link">
+ <material>${light_gazebo_material}</material>
+ </gazebo>
+
+ <joint name="joint_${name}_base_link_to_${name}_light_link" type="fixed">
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <parent link="${name}_base_link"/>
+ <child link="${name}_light_link" />
+ </joint>
<link name="${name}_tag_link">
<inertial>
diff --git a/urdf/signs/sign_simple_macro.xacro b/urdf/signs/sign_simple_macro.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ed1590c4cf63218ca02e125db3249c94fc1bfc32
--- /dev/null
+++ b/urdf/signs/sign_simple_macro.xacro
@@ -0,0 +1,131 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/materials.xacro" />
+
+ <xacro:property name="PI" value="3.1415926535897931" />
+ <xacro:property name="box_width" value="0.07" />
+ <xacro:property name="box_depth" value="0.07" />
+ <xacro:property name="box_height" value="0.175" />
+ <xacro:property name="box_material" value="white" />
+ <xacro:property name="box_gazebo_material" value="Gazebo/White" />
+ <xacro:property name="tag_size" value="0.05" />
+ <xacro:property name="tag_z_offset" value="0.065" />
+ <xacro:property name="delta" value="0.0001" />
+ <xacro:property name="top_panel_width" value="0.05" />
+ <xacro:property name="top_panel_height" value="0.05" />
+ <xacro:property name="top_panel_z_offset" value="0.12" />
+
+ <xacro:macro name="sign"
+ params="name:=sign
+ tag_dae:=alvar0
+ top_panel_dae:=stop
+ box_gazebo_material:=Gazebo/White">
+
+ <link name="${name}_base_link">
+ <visual>
+ <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
+ <geometry>
+ <box size="${box_depth} ${box_width} ${box_height}"/>
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ <collision>
+ <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
+ <geometry>
+ <box size="${box_depth} ${box_width} ${box_height}"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_base_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_link">
+ <inertial>
+ <mass value="0.001"/>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+ </inertial>
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_tag_link" type="fixed">
+ <origin xyz="${delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 0 0" />
+ <parent link="${name}_base_link"/>
+ <child link="${name}_tag_link" />
+ </joint>
+
+ <gazebo reference="${name}_tag_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${tag_dae}.dae" scale="${tag_size} 1.0 ${tag_size}"/>
+ </geometry>
+ </visual>
+ </link>
+
+ <joint name="joint_${name}_tag_link_to_${name}_tag_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_tag_link"/>
+ <child link="${name}_tag_image" />
+ </joint>
+
+ <gazebo reference="${name}_tag_image">
+ </gazebo>
+
+ <link name="${name}_top_panel_link">
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_top_panel_link" type="fixed">
+ <origin xyz="${delta} 0 ${top_panel_height/2.0+top_panel_z_offset}" rpy="0 0 0"/>
+ <parent link="${name}_base_link"/>
+ <child link="${name}_top_panel_link"/>
+ </joint>
+
+ <gazebo reference="${name}_top_panel_link">
+ </gazebo>
+
+ <link name="${name}_top_panel_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${top_panel_dae}.dae" scale="${top_panel_width} 1.0 ${top_panel_height}"/>
+ <!--<box size="${top_panel_width} ${delta} ${top_panel_height}"/>-->
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ </link>
+
+ <gazebo reference="${name}_top_panel_image">
+ </gazebo>
+
+ <joint name="joint_${name}_top_panel_link_to_${name}_top_panel_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_top_panel_link"/>
+ <child link="${name}_top_panel_image" />
+ </joint>
+
+ <gazebo>
+ <static>true</static>
+ </gazebo>
+
+ <!--
+ <gazebo>
+ <plugin name="${name}_ground_truth" filename="libgazebo_ros_p3d.so">
+ <frameName>map</frameName>
+ <bodyName>${name}_base_link</bodyName>
+ <topicName>${name}_odom_ground_truth</topicName>
+ <updateRate>5.0</updateRate>
+ </plugin>
+ </gazebo>
+ -->
+
+ </xacro:macro>
+
+</root>