diff --git a/launch/spawn_sign.launch b/launch/spawn_sign.launch
index 12fd123d2fa4e00fef87ee8a8484bb7ef0792f84..6d6ca40d468745053526180abab85511d2a5ddf4 100644
--- a/launch/spawn_sign.launch
+++ b/launch/spawn_sign.launch
@@ -1,16 +1,14 @@
<!-- -->
<launch>
- <!--<arg name="circuit" default="test2020"/>-->
- <arg name="name" default="sign"/>
+ <arg name="name" default="stop1"/>
<arg name="tag" default="alvar0"/>
<arg name="type" default="stop"/>
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="yaw" default="0.0"/>
- <arg name="model" default="$(arg name)"/>
- <arg name="model_path" default="$(find sign_description)/urdf/sign.xacro"/>
+ <arg name="model" default="sign"/>
+ <arg name="model_path" default="$(find sign_description)/urdf/$(arg model).xacro"/>
<arg name="parent" default="map"/>
- <!--<arg name="world_frame" default="world"/>-->
<arg name="rviz" default="false"/>
<param name="$(arg name)_description"
@@ -18,7 +16,10 @@
name:=$(arg name)
tag:=$(arg tag)
type:=$(arg type)
- parent:=$(arg parent)">
+ parent:=$(arg parent)
+ x:=$(arg x)
+ y:=$(arg y)
+ yaw:=$(arg yaw)">
</param>
<node name="$(arg name)_state_publisher"
@@ -32,11 +33,8 @@
<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 $(arg yaw)">
+ args="-param /$(arg name)_description -urdf -model $(arg name) -x 0 -y 0 -z 0 -Y 0">
</node>
-
-<!-- <node name="$(arg name)_static_tf" pkg="tf" type="static_transform_publisher"
- args="$(arg x) $(arg y) 0 $(arg yaw) 0 0 $(arg world_frame) $(arg parent) 100"/>-->
<node name="$(arg name)_rviz" pkg="rviz" type="rviz"
if="$(arg rviz)"
diff --git a/rviz/sign.rviz b/rviz/stop1.rviz
similarity index 89%
rename from rviz/sign.rviz
rename to rviz/stop1.rviz
index fea6fc50b7fe569e07c02ad4597a404dd30922b0..f02df785349ec20e19c9b840f0f11e6650572540 100644
--- a/rviz/sign.rviz
+++ b/rviz/stop1.rviz
@@ -57,17 +57,15 @@ Visualization Manager:
All Enabled: true
map:
Value: true
- sign1_box_link:
+ stop1_base_link:
Value: true
- sign1_tag_image:
+ stop1_tag_image:
Value: true
- sign1_tag_link:
+ stop1_tag_link:
Value: true
- sign1_top_panel_image:
+ stop1_top_panel_image:
Value: true
- sign1_top_panel_link:
- Value: true
- world:
+ stop1_top_panel_link:
Value: true
Marker Scale: 0.25
Name: TF
@@ -75,15 +73,14 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
- world:
- map:
- sign1_box_link:
- sign1_tag_link:
- sign1_tag_image:
- {}
- sign1_top_panel_link:
- sign1_top_panel_image:
- {}
+ map:
+ stop1_base_link:
+ stop1_tag_link:
+ stop1_tag_image:
+ {}
+ stop1_top_panel_link:
+ stop1_top_panel_image:
+ {}
Update Interval: 0
Value: true
- Alpha: 1
@@ -100,31 +97,31 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
- sign1_box_link:
+ stop1_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- sign1_tag_image:
+ stop1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- sign1_tag_link:
+ stop1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
- sign1_top_panel_image:
+ stop1_top_panel_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- sign1_top_panel_link:
+ stop1_top_panel_link:
Alpha: 1
Show Axes: false
Show Trail: false
- Name: RobotModel
- Robot Description: sign_description
+ Name: stop1_RobotModel
+ Robot Description: stop1_description
TF Prefix: ""
Update Interval: 0
Value: true
@@ -154,7 +151,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 1.46973848
+ Distance: 0.88139534
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
diff --git a/urdf/sign.xacro b/urdf/sign.xacro
index f82d2b01605093f430566852ef2b789c00f04168..5e8b9fbe60d3c655977731fa472d759efc092232 100644
--- a/urdf/sign.xacro
+++ b/urdf/sign.xacro
@@ -6,11 +6,11 @@
<link name="$(arg parent)">
</link>
- <xacro:sign name="sign_$(arg name)"
+ <xacro:sign name="$(arg name)"
parent="$(arg parent)"
tag_dae="$(arg tag)"
top_panel_dae="$(arg type)">
- <origin xyz="0 0 0" rpy="0 0 0"/>
+ <origin xyz="$(arg x) $(arg y) 0" rpy="0 0 $(arg yaw)"/>
</xacro:sign>
</robot>
\ No newline at end of file
diff --git a/urdf/signs/sign_macro.xacro b/urdf/signs/sign_macro.xacro
index b0057adf1fe13c48296f962c3ac705a8d78e4fc6..2ab78a5a07259d92a90bfc10d5263de3878926af 100644
--- a/urdf/signs/sign_macro.xacro
+++ b/urdf/signs/sign_macro.xacro
@@ -19,13 +19,13 @@
<xacro:macro name="sign"
params="name:=sign
- parent:=${name}_base_link
+ parent:=map
*origin
tag_dae:=alvar0
top_panel_dae:=stop
box_gazebo_material:=Gazebo/White">
- <link name="${name}_box_link">
+ <link name="${name}_base_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
@@ -46,17 +46,26 @@
</collision>
</link>
- <joint name="joint_${parent}_to_${name}" type="fixed">
+ <joint name="joint_${parent}_to_${name}_base_link" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
- <child link="${name}_box_link"/>
+ <child link="${name}_base_link"/>
</joint>
-
- <gazebo>
- <static>1</static>
- </gazebo>
- <gazebo reference="${name}_box_link">
+ <gazebo reference="${name}_base_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_link">
+ </link>
+
+ <joint name="joint_${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>${box_gazebo_material}</material>
</gazebo>
@@ -69,32 +78,27 @@
</visual>
</link>
- <joint name="joint_${name}_box_link_to_${name}_tag_image" type="fixed">
- <origin xyz="${delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 ${PI} -${PI/2}" />
- <parent link="${name}_box_link"/>
+ <joint name="joint_${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>
- <static>1</static>
- </gazebo>
-
- <gazebo reference="${name}_tag_link">
- <material>${box_gazebo_material}</material>
- </gazebo>
-
<gazebo reference="${name}_tag_image">
</gazebo>
<link name="${name}_top_panel_link">
</link>
- <joint name="joint_${name}_box_link_to_${name}_top_panel_link" type="fixed">
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <parent link="${name}_box_link"/>
+ <joint name="joint_${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="${name}_top_panel_image">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -106,8 +110,11 @@
</visual>
</link>
+ <gazebo reference="${name}_top_panel_image">
+ </gazebo>
+
<joint name="joint_${name}_top_panel_link_to_${name}_top_panel_image" type="fixed">
- <origin xyz="${delta} 0 ${top_panel_height/2.0+top_panel_z_offset}" rpy="0 ${PI} -${PI/2}" />
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
<parent link="${name}_top_panel_link"/>
<child link="${name}_top_panel_image" />
</joint>
@@ -116,12 +123,6 @@
<static>1</static>
</gazebo>
- <gazebo reference="${name}_top_panel_link">
- </gazebo>
-
- <gazebo reference="${name}_top_panel_image">
- </gazebo>
-
</xacro:macro>
</root>
\ No newline at end of file