Merge branch 'semaphores' into 'master'

Add inverted alvar png/dae. Update sign, semaphore, localization_sign xacros...

See merge request !3

README.md

@@ -30,51 +30,38 @@ 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.
+    * An empty string will make the light to switch between green and red
+    * Setting a [gazebo material](http://wiki.ros.org/simulator_gazebo/Tutorials/ListOfMaterials) (Gazebo/Red, Gazebo/Green, Gazebo/Orange, ...) will change the material accordingly.
+* 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
+
+rostopic pub -1 /semaphore1_set_material_plugin/set_material std_msgs/String "data: ''"
+rostopic pub -1 /semaphore2_set_material_plugin/set_material std_msgs/String "data: 'Gazebo/Orange'"
 ```
 
 ## Disclaimer

launch/spawn_localization_sign.launch

+<?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_neg_1"/>
+  <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>

launch/spawn_semaphore.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="name"  default="semaphore"/>
+  <arg name="model" default="semaphore"/>
+  <arg name="tag"   default="alvar0_neg_1"/>
+  <arg name="initial_state"  default="False"/>
+  <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)
+                  initial_state:=$(arg initial_state)">
+  </param>
+
+  <node name="$(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>

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_neg_1"/>
   <arg name="type"  default="stop"/>
   <arg name="x"     default="0.5"/>
   <arg name="y"     default="-0.5"/>

launch/spawn_test.launch

-<?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="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="$(find iri_sign_description)/launch/spawn_semaphore.launch">
+    <arg name="name"  value="semaphore1"/>
+    <arg name="initial_state"  value="false"/>
+    <arg name="x"  value="0.7"/>
+    <arg name="y"  value="0.1"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(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="$(find iri_sign_description)/launch/spawn_sign.launch">
+    <arg name="name"  value="unique_loc_sign1"/>
+    <arg name="type"  value="world_negative"/>
+    <arg name="tag"   value="alvar3_neg_1"/>
+    <arg name="x"  value="0.7"/>
+    <arg name="y"  value="0.5"/>
+    <arg name="yaw"  value="3.14159"/>
+    <arg name="parent"  value="$(arg parent)"/>
   </include>
 
-  <node name="$(arg name)_rviz" pkg="rviz" type="rviz"
-        args="-d $(find iri_sign_description)/rviz/$(arg name).rviz"/>
 </launch>
-

package.xml

@@ -45,6 +45,7 @@
 
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>gazebo_ros</run_depend>
+  <run_depend>iri_gazebo_set_material_plugin</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

urdf/loc_sign.xacro

+<?xml version="1.0"?>
+<robot name="$(arg name)" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find iri_sign_description)/urdf/signs/localization_sign_macro.xacro" />
+  
+  <xacro:localization_sign name="$(arg name)"
+              tag_dae="$(arg tag)">
+  </xacro:localization_sign>
+
+</robot>

urdf/semaphore.xacro

+<?xml version="1.0"?>
+<robot name="$(arg name)" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find iri_sign_description)/urdf/signs/semaphore_macro.xacro" />
+  
+  <xacro:semaphore name="$(arg name)"
+              tag_dae="$(arg tag)"
+              initial_state="$(arg initial_state)">
+  </xacro:semaphore>
+
+</robot>

urdf/signs/dae/alvar0_neg_1.dae

+<?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/alvar0_neg_1.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>

urdf/signs/dae/alvar0_negative.dae

+<?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/alvar0_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"/>