diff --git a/launch/spawn_localization_sign.launch b/launch/spawn_localization_sign.launch
new file mode 100644
index 0000000000000000000000000000000000000000..7b34c435a6ea109798f14834de5f7fc15573d136
--- /dev/null
+++ b/launch/spawn_localization_sign.launch
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="name" default="loc_sign"/>
+ <arg name="model" default="loc_sign"/>
+ <arg name="tag" default="alvar2_negative"/>
+ <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) $(arg name)_base_link 100">
+ </node>
+
+</launch>
diff --git a/launch/spawn_semaphore.launch b/launch/spawn_semaphore.launch
index 6581c325de24d8d84ad4e61a4ef21902f3eb2f72..1d78d899f30b8b7b99b6d3a531e0245ff7d20241 100644
--- a/launch/spawn_semaphore.launch
+++ b/launch/spawn_semaphore.launch
@@ -2,7 +2,8 @@
<launch>
<arg name="name" default="semaphore"/>
<arg name="model" default="semaphore"/>
- <arg name="tag" default="alvar0"/>
+ <arg name="tag" default="alvar0_negative"/>
+ <arg name="initial_state" default="0"/>
<arg name="x" default="0.5"/>
<arg name="y" default="-0.5"/>
<arg name="yaw" default="3.14159"/>
@@ -11,7 +12,8 @@
<param name="$(arg name)_description"
command="$(find xacro)/xacro '$(find iri_sign_description)/urdf/$(arg model).xacro'
name:=$(arg name)
- tag:=$(arg tag)">
+ tag:=$(arg tag)
+ initial_state:=$(arg initial_state)">
</param>
<node name="$(arg name)_state_publisher"
diff --git a/launch/spawn_sign.launch b/launch/spawn_sign.launch
index 66d9f48fc2d374448ac43e8ab905b71d74409756..efedb4536f7f46bdeb1a1b3d65d970ce24963803 100644
--- a/launch/spawn_sign.launch
+++ b/launch/spawn_sign.launch
@@ -2,7 +2,7 @@
<launch>
<arg name="name" default="stop"/>
<arg name="model" default="sign"/>
- <arg name="tag" default="alvar0"/>
+ <arg name="tag" default="alvar1_negative"/>
<arg name="type" default="stop"/>
<arg name="x" default="0.5"/>
<arg name="y" default="-0.5"/>
diff --git a/launch/spawn_test.launch b/launch/spawn_test.launch
index f54fbd66667d1c6ac45a21531ed1e492b817e4f3..39dd90bcb12f15b5ff77cf388622cddcdecd865e 100644
--- a/launch/spawn_test.launch
+++ b/launch/spawn_test.launch
@@ -1,26 +1,60 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0"?>
+
<launch>
- <arg name="name" default="stop1"/>
- <arg name="model" default="sign"/>
- <arg name="tag" default="alvar0"/>
- <arg name="type" default="stop"/>
- <arg name="x" default="0.5"/>
- <arg name="y" default="-0.5"/>
- <arg name="yaw" default="3.14159"/>
<arg name="parent" default="map"/>
+ <include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
+ <arg name="name" value="semaphore1"/>
+ <arg name="initial_state" value="false"/>
+ <arg name="x" value="0.7"/>
+ <arg name="y" value="0.1"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_semaphore.launch">
+ <arg name="name" value="semaphore2"/>
+ <arg name="initial_state" value="true"/>
+ <arg name="x" value="0.7"/>
+ <arg name="y" value="-0.1"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
<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="$(arg parent)"/>
+ <arg name="name" value="sign1"/>
+ <arg name="type" value="stop"/>
+ <arg name="x" value="0.7"/>
+ <arg name="y" value="-0.3"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="sign2"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="0.7"/>
+ <arg name="y" value="-0.5"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_localization_sign.launch">
+ <arg name="name" value="locsign1"/>
+ <arg name="x" value="0.7"/>
+ <arg name="y" value="0.3"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <include file="$(find iri_sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="unique_loc_sign1"/>
+ <arg name="type" value="world_negative"/>
+ <arg name="tag" value="alvar3_negative"/>
+ <arg name="x" value="0.7"/>
+ <arg name="y" value="0.5"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
</include>
- <node name="$(arg name)_rviz" pkg="rviz" type="rviz"
- args="-d $(find iri_sign_description)/rviz/$(arg name).rviz"/>
</launch>
-
diff --git a/urdf/loc_sign.xacro b/urdf/loc_sign.xacro
index 88e60b760591b5ca38770b398b430e668cbd595c..e163fcb6ac017c1c10b848702940becdbd813dd1 100644
--- a/urdf/loc_sign.xacro
+++ b/urdf/loc_sign.xacro
@@ -4,8 +4,7 @@
<xacro:include filename="$(find iri_sign_description)/urdf/signs/localization_sign_macro.xacro" />
<xacro:localization_sign name="$(arg name)"
- tag_dae="$(arg tag)"
- top_panel_dae="$(arg type)">
+ tag_dae="$(arg tag)">
</xacro:localization_sign>
</robot>
diff --git a/urdf/semaphore.xacro b/urdf/semaphore.xacro
index 982a1ae7a8c4d05295345b967b2ccda056d866ec..8122750bef364fb60616b599210c19a630f0b8e0 100644
--- a/urdf/semaphore.xacro
+++ b/urdf/semaphore.xacro
@@ -4,7 +4,8 @@
<xacro:include filename="$(find iri_sign_description)/urdf/signs/semaphore_macro.xacro" />
<xacro:semaphore name="$(arg name)"
- tag_dae="$(arg tag)">
+ tag_dae="$(arg tag)"
+ initial_state="$(arg initial_state)">
</xacro:semaphore>
</robot>
diff --git a/urdf/signs/dae/alvar2_negative.dae b/urdf/signs/dae/alvar2_negative.dae
new file mode 100644
index 0000000000000000000000000000000000000000..af08a97b95e885ef766d4bf100c143c58bfdd2c0
--- /dev/null
+++ b/urdf/signs/dae/alvar2_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/alvar2_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/alvar3_negative.dae b/urdf/signs/dae/alvar3_negative.dae
new file mode 100644
index 0000000000000000000000000000000000000000..1208f7df9a32e96208d5ec1d27aafed00794b5c4
--- /dev/null
+++ b/urdf/signs/dae/alvar3_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/alvar3_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/alvar2_negative.png b/urdf/signs/dae/png/alvar2_negative.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba9181d5dc53f05c48a777a90208f1486fd68b7b
Binary files /dev/null and b/urdf/signs/dae/png/alvar2_negative.png differ
diff --git a/urdf/signs/dae/png/alvar3_negative.png b/urdf/signs/dae/png/alvar3_negative.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed20d587cdcddd70b645d05a805ec0c3f5b1ea8a
Binary files /dev/null and b/urdf/signs/dae/png/alvar3_negative.png differ
diff --git a/urdf/signs/dae/png/max_50.png b/urdf/signs/dae/png/max_50.png
index 0b7d4fb35310fc8057b60ad47fbc4f7a066e4261..071425ce0c146c1f48eb176938a672fb0d15a70e 100644
Binary files a/urdf/signs/dae/png/max_50.png and b/urdf/signs/dae/png/max_50.png differ
diff --git a/urdf/signs/dae/png/no_overtaking.png b/urdf/signs/dae/png/no_overtaking.png
index d34b88d88386c528f13d88f7ecee55a3b87158ba..4d1c7aaa824a323b050eca8bff1678584dda1609 100644
Binary files a/urdf/signs/dae/png/no_overtaking.png and b/urdf/signs/dae/png/no_overtaking.png differ
diff --git a/urdf/signs/dae/png/world_negative.png b/urdf/signs/dae/png/world_negative.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a28318316c2677410d3c370c7def6f06ce8ae86
Binary files /dev/null and b/urdf/signs/dae/png/world_negative.png differ
diff --git a/urdf/signs/dae/world_negative.dae b/urdf/signs/dae/world_negative.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3c640bb2c62e70fe4563bbf6e5532c9a7075cf1a
--- /dev/null
+++ b/urdf/signs/dae/world_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/world_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/localization_sign_macro.xacro b/urdf/signs/localization_sign_macro.xacro
index 082a586c3624f747465da363da7077caeff94c51..9c659e6f68ad0b7802a66860eb078743d2b4b0ab 100644
--- a/urdf/signs/localization_sign_macro.xacro
+++ b/urdf/signs/localization_sign_macro.xacro
@@ -5,23 +5,22 @@
<xacro:include filename="$(find iri_sign_description)/urdf/materials.xacro" />
<xacro:property name="PI" value="3.1415926535897931" />
- <xacro:property name="box_width" value="0.12" />
+ <xacro:property name="box_width" value="0.10" />
<xacro:property name="box_depth" value="0.01" />
<xacro:property name="box_height" value="0.175" />
<xacro:property name="box_material" value="white" />
- <xacro:property name="box_gazebo_material" value="Gazebo/White" />
- <xacro:property name="tag_size" value="0.08" />
+ <xacro:property name="tag_size" value="0.05" />
<xacro:property name="tag_z_offset" value="0.025" />
<xacro:property name="delta" value="0.0001" />
<xacro:property name="top_panel_width" value="0.05" />
<xacro:property name="top_panel_height" value="0.05" />
- <xacro:property name="top_panel_z_offset" value="0.12" />
+ <xacro:property name="top_panel_z_offset" value="0.10" />
<xacro:macro name="localization_sign"
params="name:=loc_sign
tag_dae:=qr_loc1
- top_panel_dae:=world
- box_gazebo_material:=Gazebo/White">
+ top_panel_dae:=world_negative
+ box_gazebo_material:=Gazebo/FlatBlack">
<link name="${name}_base_link">
<visual>
diff --git a/urdf/signs/semaphore_macro.xacro b/urdf/signs/semaphore_macro.xacro
index a02463c4fed39b4d1a6bc9a5708f140379d74aa2..bd353569db04d6af5cf75998e22fbcaf404e8059 100644
--- a/urdf/signs/semaphore_macro.xacro
+++ b/urdf/signs/semaphore_macro.xacro
@@ -21,7 +21,8 @@
tag_dae:=alvar0_negative
box_gazebo_material:=Gazebo/FlatBlack
light_gazebo_material:=Gazebo/Green
- light_gazebo_material2:=Gazebo/Red">
+ light_gazebo_material2:=Gazebo/Red
+ initial_state:=false">
<link name="${name}_base_link">
<visual>
@@ -63,6 +64,7 @@
<plugin name="${name}_set_material_plugin" filename="libiri_gazebo_set_material_plugin.so" >
<material>${light_gazebo_material}</material>
<material2>${light_gazebo_material2}</material2>
+ <initial_state>${initial_state}</initial_state>
</plugin>
</visual>
@@ -89,7 +91,7 @@
</joint>
<gazebo reference="${name}_tag_link">
- <!--<material>${box_gazebo_material}</material>-->
+ <material>${box_gazebo_material}</material>
</gazebo>
<link name="${name}_tag_image">