diff --git a/include/adc_circuit.h b/include/adc_circuit.h
index a17de92b432f4bb1ec79507cbfd105471d9e90e3..63ecdf6535ef92de857786c2829e307f95e30555 100644
--- a/include/adc_circuit.h
+++ b/include/adc_circuit.h
@@ -11,6 +11,9 @@
#include "../src/xml/OpenDRIVE_1.4H.hxx"
#endif
+#define SIGNS_LAUNCH_FILE "spawn_signs.launch"
+#define OBJECTS_LAUNCH_FILE "spawn_objects.launch"
+
/**
* \class CAdcCircuit
*
@@ -82,17 +85,20 @@ class CAdcCircuit
/**
* \brief Function to generate a .launch to spwan all
- * the recognized signs.
+ * the recognized signs and another for the objects.
*
* First it saves the header of the file. Secondly it
* calls CAdcRoad::append_signs_spwan. Finally, it saves
* the end of the launch file.
*
- * \param filename The route to the output .launch file.
+ * It follows the same steps to generate the objects launch file
+ * calling CAdcRoad::append_objects_spwan.
+ *
+ * \param dir The route to the output .launch file.
*
* \throws CException If the output file can't be opened.
*/
- void generate_spwan_launch_file(std::string &filename);
+ void generate_spawn_launch_files(std::string &dir);
/**
* \brief Function to load the .xodr info.
diff --git a/include/adc_object.h b/include/adc_object.h
index aa4e9bab5a13f66985e63f74be388c0776875da2..f73774e205ff07d14eb2d4e158a301bd10264517 100644
--- a/include/adc_object.h
+++ b/include/adc_object.h
@@ -268,7 +268,7 @@ class CAdcObject
* \param filename The route to the output .launch file.
*
*/
- void append_object_spawn(std::string &filename);
+ void append_objects_spawn(std::string &filename);
/**
* \brief Function to load the .xodr info.
diff --git a/include/adc_road.h b/include/adc_road.h
index a5b691b01c855293d994227dc0431b60eaaff3ac..b0cf8a66701137f0b78e506f9f7d95eac79de695 100644
--- a/include/adc_road.h
+++ b/include/adc_road.h
@@ -189,6 +189,16 @@ class CAdcRoad
*/
void append_signs_spawn(std::string &filename);
+ /**
+ * \brief Function to append each object spwan lines on a .launch file.
+ *
+ * It calls CAdcObject::append_objects_spawn function.
+ *
+ * \param filename The route to the output .launch file.
+ *
+ */
+ void append_objects_spawn(std::string &filename);
+
/**
* \brief Function to load the .xodr info.
*
diff --git a/include/opendrive_to_gazebo.h b/include/opendrive_to_gazebo.h
index 68f3727116e97dce184bc78db12c7cb1bfabd0a4..a7f108c8b5a4ce44a6e49fdca828fe9379c2ddad 100644
--- a/include/opendrive_to_gazebo.h
+++ b/include/opendrive_to_gazebo.h
@@ -57,14 +57,14 @@ class COpenDriveFormat
/**
* \brief Function to generate a .launch to spwan all
- * the recognized signs.
+ * the recognized signs and another for the objects.
*
- * It calls CAdcCircuit::generate_spwan_launch_file function.
+ * It calls CAdcCircuit::generate_spawn_launch_files function.
*
- * \param filename The route to the output .launch file.
+ * \param dir The route to the output launch directory.
*
*/
- void generate_spwan_launch_file(std::string &filename);
+ void generate_spawn_launch_files(std::string &dir);
/**
* \brief Default destructor.
diff --git a/src/adc_circuit.cpp b/src/adc_circuit.cpp
index 380c83e923146c32dff2cd6f456350456d3590c4..aa320b392ab8df6ac9460d4b858e21e5f9d2224c 100644
--- a/src/adc_circuit.cpp
+++ b/src/adc_circuit.cpp
@@ -48,35 +48,57 @@ void CAdcCircuit::get_signals(std::vector<CAdcSignals*> &signals)
this->roads[i]->get_signals(signals);
}
-void CAdcCircuit::generate_spwan_launch_file(std::string &filename)
+void CAdcCircuit::generate_spawn_launch_files(std::string &dir)
{
- std::remove(filename.c_str());
+ std::string signs_filename = dir + SIGNS_LAUNCH_FILE;
+ std::string objects_filename = dir + OBJECTS_LAUNCH_FILE;
+
+ std::remove(signs_filename.c_str());
+ std::remove(objects_filename.c_str());
//First the header
std::ostringstream oss;
oss << "<?xml version=\"1.0\"?>" << std::endl << std::endl;
oss << "<launch>" << std::endl;
oss << " <arg name=\"parent\" default=\"map\"/>" << std::endl;
- std::ofstream out_file;
- out_file.open(filename.c_str(), std::ios_base::app);
- if (!out_file.is_open())
- throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The output file can't be open");
- out_file << oss.str() << std::endl;
- out_file.close();
+ std::ofstream signs_out_file;
+ signs_out_file.open(signs_filename.c_str(), std::ios_base::app);
+ if (!signs_out_file.is_open())
+ throw CException(_HERE_,"CAdcCircuit::generate_spawn_launch_file -> The sings output file can't be open");
+ signs_out_file << oss.str() << std::endl;
+ signs_out_file.close();
+
+ std::ofstream objects_out_file;
+ objects_out_file.open(objects_filename.c_str(), std::ios_base::app);
+ if (!objects_out_file.is_open())
+ throw CException(_HERE_,"CAdcCircuit::generate_spawn_launch_file -> The objects output file can't be open");
+ objects_out_file << oss.str() << std::endl;
+ objects_out_file.close();
//sign info
for (unsigned int i = 0; i < this->roads.size(); i++)
- this->roads[i]->append_signs_spawn(filename);
+ this->roads[i]->append_signs_spawn(signs_filename);
+
+ //object info
+ for (unsigned int i = 0; i < this->roads.size(); i++)
+ this->roads[i]->append_objects_spawn(objects_filename);
//End
oss.str("");
oss.clear();
oss << std::endl << "</launch>" << std::endl;
- out_file.open(filename.c_str(), std::ios_base::app);
- if (!out_file.is_open())
- throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The output file can't be open");
- out_file << oss.str() << std::endl;
- out_file.close();
+
+ signs_out_file.open(signs_filename.c_str(), std::ios_base::app);
+ if (!signs_out_file.is_open())
+ throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The signs output file can't be open");
+ signs_out_file << oss.str() << std::endl;
+ signs_out_file.close();
+
+ objects_out_file.open(objects_filename.c_str(), std::ios_base::app);
+ if (!objects_out_file.is_open())
+ throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The objects output file can't be open");
+ objects_out_file << oss.str() << std::endl;
+ objects_out_file.close();
}
void CAdcCircuit::load(std::auto_ptr<OpenDRIVE> &open_drive)
diff --git a/src/adc_object.cpp b/src/adc_object.cpp
index 41601e44891f4f38997b11ca055c8b028717aea8..12bbb0b04d1667c3940bb0883e7b7677c0555948 100644
--- a/src/adc_object.cpp
+++ b/src/adc_object.cpp
@@ -280,9 +280,39 @@ void CAdcObject::debug(bool world_pose)
}
}
-void CAdcObject::append_object_spawn(std::string &filename)
+void CAdcObject::append_objects_spawn(std::string &filename)
{
+ if (this->repeat || this->outline)
+ {
+ std::cout << "WARNING: Outline and repeat objects not supported" << std::endl;
+ return;
+ }
+ std::ostringstream oss;
+ oss << std::endl << " <include file=\"$(find iri_object_description)/launch/spawn_object.launch\">" << std::endl;
+ oss << " <arg name=\"name\" value=\"" << this->name << this->id << "\"/>" << std::endl;
+ oss << " <arg name=\"model\" value=\"" << (this->radius != 0.0 ? "cyl": "box") << "\"/>" << std::endl;
+
+ if (this->radius != 0.0)
+ oss << " <arg name=\"radius\" value=\"" << this->radius << "\"/>" << std::endl;
+ else
+ {
+ oss << " <arg name=\"length\" value=\"" << this->length << "\"/>" << std::endl;
+ oss << " <arg name=\"width\" value=\"" << this->width << "\"/>" << std::endl;
+ }
+
+ oss << " <arg name=\"height\" value=\"" << this->height << "\"/>" << std::endl;
+ oss << " <arg name=\"x\" value=\"" << this->world_x << "\"/>" << std::endl;
+ oss << " <arg name=\"y\" value=\"" << this->world_y << "\"/>" << std::endl;
+ oss << " <arg name=\"yaw\" value=\"" << this->world_yaw << "\"/>" << std::endl;
+ oss << " <arg name=\"parent\" value=\"$(arg parent)\"/>" << std::endl;
+ oss << " </include>" << std::endl;
+ std::ofstream out_file;
+ out_file.open(filename.c_str(), std::ios_base::app);
+ if (!out_file.is_open())
+ throw CException(_HERE_,"CAdcObject::append_objects_spawn -> The output file can't be open");
+ out_file << oss.str() << std::endl;
+ out_file.close();
}
void CAdcObject::load(std::auto_ptr<objects::object_type> &object_info)
diff --git a/src/adc_road.cpp b/src/adc_road.cpp
index 4e1130106b5cf94deaeaf46b20e42142012d8292..18bed174f256829f259cd25ba7a5c3854d36fbdb 100644
--- a/src/adc_road.cpp
+++ b/src/adc_road.cpp
@@ -221,6 +221,12 @@ void CAdcRoad::append_signs_spawn(std::string &filename)
this->signals[i]->append_sign_spawn(filename);
}
+void CAdcRoad::append_objects_spawn(std::string &filename)
+{
+ for (unsigned int i = 0; i < this->objects.size(); i++)
+ this->objects[i]->append_objects_spawn(filename);
+}
+
void CAdcRoad::load(std::auto_ptr<OpenDRIVE::road_type> &road_info)
{
std::stringstream ss(road_info->id().get());
diff --git a/src/adc_signals.cpp b/src/adc_signals.cpp
index 898db52df4a58973a768bc7ee7d79d3c9473538a..0e7f176590b00487fd05b61d53d33309930cad0c 100644
--- a/src/adc_signals.cpp
+++ b/src/adc_signals.cpp
@@ -212,7 +212,7 @@ void CAdcSignals::append_sign_spawn(std::string &filename)
std::ofstream out_file;
out_file.open(filename.c_str(), std::ios_base::app);
if (!out_file.is_open())
- throw CException(_HERE_,"CAdcCircuit::generate_spwan_launch_file -> The output file can't be open");
+ throw CException(_HERE_,"CAdcSignals::append_sign_spawn -> The output file can't be open");
out_file << oss.str() << std::endl;
out_file.close();
}
diff --git a/src/examples/opendrive_to_gazebo_test.cpp b/src/examples/opendrive_to_gazebo_test.cpp
index beca6fef3702bf84dbad5d1d19f18480d37e882c..ceb67157d8205306d2ebe3e7a769716570a24dac 100644
--- a/src/examples/opendrive_to_gazebo_test.cpp
+++ b/src/examples/opendrive_to_gazebo_test.cpp
@@ -8,7 +8,7 @@ int main(int argc, char *argv[])
{
COpenDriveFormat open_drive_format;
std::string xml_file = "../src/xml/atlatec_generic.xodr";
- std::string launch_file = "../spawn_signs.launch";
+ std::string launch_dir = "../../../../iri_ws/src/model_car_simulator/sign_description/launch/";
// std::string xml_file = "../src/xml/atlatec_vires.xodr";
try
{
@@ -19,7 +19,7 @@ int main(int argc, char *argv[])
// open_drive_format.get_signals(signals);
// for (unsigned int i = 0; i < signals.size(); i++)
// signals[i]->debug(true);
- open_drive_format.generate_spwan_launch_file(launch_file);
+ open_drive_format.generate_spawn_launch_files(launch_dir);
}
catch (CException &e)
{
diff --git a/src/opendrive_to_gazebo.cpp b/src/opendrive_to_gazebo.cpp
index 3ca162b7e61d6b77e250d09a877707ba0449f80b..5ddf4768243b04a586283e12358e50d6993d4e52 100644
--- a/src/opendrive_to_gazebo.cpp
+++ b/src/opendrive_to_gazebo.cpp
@@ -60,11 +60,11 @@ void COpenDriveFormat::get_signals(std::vector<CAdcSignals*> &signals)
this->adc_circuit.get_signals(signals);
}
-void COpenDriveFormat::generate_spwan_launch_file(std::string &filename)
+void COpenDriveFormat::generate_spawn_launch_files(std::string &dir)
{
- std::cout << "Generating " << filename << " ..." << std::endl;
- this->adc_circuit.generate_spwan_launch_file(filename);
- std::cout << "Generating " << filename << " done" << std::endl;
+ std::cout << "Generating spawn files ..." << std::endl;
+ this->adc_circuit.generate_spawn_launch_files(dir);
+ std::cout << "Done" << std::endl;
}
COpenDriveFormat::~COpenDriveFormat()