Commit 4a94895e authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update readme and spawn_test

parent ab7a6f45
......@@ -30,48 +30,32 @@ catkin_make
## Launch
This package file includes a launch file named spawn_sign.launch which is intended to be included from other launch file that requires to spawn traffic signs in a simulated Gazebo world. This launch file has the following parameters:
* **name**: (default=stop1) name given to the traffic sign used to to name the nodes and topics associated with the sign description.
* **model**: (default=sign) URDF model to use. At the moment only static traffic signs are supported.
* **tag**: (default=alvar0) Name of the Alvar AR tag used to identify the traffic sign.
* **type**: (default=stop) Type of the traffic sign. The currently supported types are:
* giveway
* haveway
* max_100
* max_50
* no_entry
* no_overtaking
* one_way
* parking
* pedestrian_crossing
* roadworks
* roundabout
* stop
* unmarked_intersection
* ahead_only
* turn_left
* turn_right
* **x** (default=0.0) x position where the traffic sign will placed in the simulated environment with respect to the parent frame.
* **y** (default=0.0) y position where the traffic sign will placed in the simulated environment with respect to the parent frame.
* **yaw** (default=0.0) orientation of the traffic sign with respect to the parent frame.
* **parent** (default=map) parent reference frame used to place the traffic sign in the simulated environment.
To spawn a traffic sign from an other launch file, include the following lines:
```
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="$(arg name)"/>
<arg name="model" value="$(arg model)"/>
<arg name="tag" value="$(arg tag)"/>
<arg name="type" value="$(arg type)"/>
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="yaw" value="$(arg yaw)"/>
<arg name="parent" value="$(arg parent)"/>
</include>
```
A test launch file is provided to visualize the traffic sign in RVIZ. To use it, execute the following command:
This package file includes launch files:
* spawn_sign.launch to spawn traffic signs in a simulated Gazebo world. This launch file has the following parameters:
* **name**: (default=stop1) name given to the traffic sign used to to name the nodes and topics associated with the sign description.
* **model**: (default=sign) URDF model to use. At the moment only static traffic signs are supported.
* **tag**: (default=alvar0) Name of the Alvar AR tag used to identify the traffic sign.
* **type**: (default=stop) Type of the traffic sign. The currently supported types are: giveway, haveway, max_100, max_50, no_entry, no_overtaking, one_way, parking, pedestrian_crossing, roadworks, roundabout, stop, unmarked_intersection, ahead_only, turn_left, turn_right
* **x** (default=0.0) x position where the traffic sign will placed in the simulated environment with respect to the parent frame.
* **y** (default=0.0) y position where the traffic sign will placed in the simulated environment with respect to the parent frame.
* **yaw** (default=0.0) orientation of the traffic sign with respect to the parent frame.
* **parent** (default=map) parent reference frame used to place the traffic sign in the simulated environment.
* spawn_semaphore.launch to spawn a traffic light in a simulated Gazebo world. This launch file has the following parameters:
* **name**: (default=semaphore) name given to the traffic sign used to to name the nodes and topics associated with the sign description.
* **model**: (default=semaphore) URDF model to use.
* **tag**: (default=alvar0_negative) Name of the Alvar AR tag used to identify the traffic sign.
* **initial_state**: (default=False). Initial state of the light. False=Green, True=Red.
* **x** (default=0.0) x position where the traffic sign will placed in the simulated environment with respect to the parent frame.
* **y** (default=0.0) y position where the traffic sign will placed in the simulated environment with respect to the parent frame.
* **yaw** (default=0.0) orientation of the traffic sign with respect to the parent frame.
* **parent** (default=map) parent reference frame used to place the traffic sign in the simulated environment.
* To change the semaphore light, publish on the /<name>_set_material_plugin/set_material topic.
* empty string will make the light to switch between green and red
* other features are under development.
* spawn_localization_sign.launch. Under development.
A test launch file is provided. To use it, execute the following command:
```
roslaunch iri_sign_description spawn_test.launch
......
......@@ -3,7 +3,7 @@
<arg name="name" default="semaphore"/>
<arg name="model" default="semaphore"/>
<arg name="tag" default="alvar0_negative"/>
<arg name="initial_state" default="0"/>
<arg name="initial_state" default="False"/>
<arg name="x" default="0.5"/>
<arg name="y" default="-0.5"/>
<arg name="yaw" default="3.14159"/>
......
<?xml version="1.0"?>
<launch>
<arg name="gazebo" default="true"/>
<arg name="parent" default="map"/>
<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="$(arg gui)"/>
</include>
</group>
<include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
<arg name="name" value="semaphore1"/>
......
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