Commit 64f6d783 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Updated the documentation.

parent 46be7cc8
# sign_description
## Description
This package contains the urdf and launch files to load road sign images, which can be used in simulation.
Developed at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC) (www.iri.upc.edu)
Contact: labrobotica@iri.upc.edu
## Installation
Clone the package inside a ROS workspace, although it will normally come within a rosinstall file.
Move to workspace:
```
roscd && cd ../src
```
Clone the repository:
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/simulator/sign_description.git
```
Install all ROS dependencies with the following commands:
```
roscd
cd ..
rosdep install -i -r --from-paths src
```
Compile all the ROS packages with the following commands:
```
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 and ahead_only.
* **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="$(find sign_description)/launch/spawn_sign.launch">
<arg name="name" value="$(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:
```
roslaunch sign_description spawn_test.launch
```
## Disclaimer
Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
## How to use it
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
`roslaunch sign_description spawn_sign.launch rviz:=true`
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
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