Update readme and spawn_test

README.md

@@ -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

launch/spawn_semaphore.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"/>

launch/spawn_test.launch

 <?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"/>