Check if an obstacle is a parking slot or not to avoid exporting it as a regular object.

src/generate_launch.cpp

@@ -177,31 +177,34 @@ void generate_objects_launch(std::string &path,std::string &objects_file,COpendr
       for(unsigned int j=0;j<segment.get_num_objects();j++)
       {
         const COpendriveObject &object=segment.get_object(j);
-        if(object.is_box() || object.is_cylinder())
+        if(!object.is_parking_space())
         {
-          out_file << std::endl << "  <include file=\"$(find iri_object_description)/launch/spawn_object.launch\">" << std::endl;
-          out_file << "    <arg name=\"name\"  value=\"" << object.get_name() << "_" << object.get_id() << "\"/>" << std::endl;
-          if(object.is_box())
+          if(object.is_box() || object.is_cylinder())
           {
-            TOpendriveBox data=object.get_box_data();
-            out_file << "    <arg name=\"model\"  value=\"box\"/>" << std::endl;
-            out_file << "    <arg name=\"length\"  value=\"" << data.length << "\"/>" << std::endl;
-            out_file << "    <arg name=\"width\"  value=\"" << data.width << "\"/>" << std::endl;
-            out_file << "    <arg name=\"height\"  value=\"" << data.height << "\"/>" << std::endl;
+            out_file << std::endl << "  <include file=\"$(find iri_object_description)/launch/spawn_object.launch\">" << std::endl;
+            out_file << "    <arg name=\"name\"  value=\"" << object.get_name() << "_" << object.get_id() << "\"/>" << std::endl;
+            if(object.is_box())
+            {
+              TOpendriveBox data=object.get_box_data();
+              out_file << "    <arg name=\"model\"  value=\"box\"/>" << std::endl;
+              out_file << "    <arg name=\"length\"  value=\"" << data.length << "\"/>" << std::endl;
+              out_file << "    <arg name=\"width\"  value=\"" << data.width << "\"/>" << std::endl;
+              out_file << "    <arg name=\"height\"  value=\"" << data.height << "\"/>" << std::endl;
+            }
+            else 
+            {
+              TOpendriveCylinder data=object.get_cylinder_data();
+              out_file << "    <arg name=\"model\"  value=\"cyl\"/>" << std::endl;
+              out_file << "    <arg name=\"radius\"  value=\"" << data.radius << "\"/>" << std::endl;
+              out_file << "    <arg name=\"height\"  value=\"" << data.height << "\"/>" << std::endl;
+            }
+            world=object.get_world_pose();
+            out_file << "    <arg name=\"x\"  value=\"" << world.x << "\"/>" << std::endl;
+            out_file << "    <arg name=\"y\"  value=\"" << world.y << "\"/>" << std::endl;
+            out_file << "    <arg name=\"yaw\"  value=\"" << world.heading << "\"/>" << std::endl;
+            out_file << "    <arg name=\"parent\"  value=\"$(arg parent)\"/>" << std::endl;
+            out_file << "  </include>" << std::endl;
           }
-          else 
-          {
-            TOpendriveCylinder data=object.get_cylinder_data();
-            out_file << "    <arg name=\"model\"  value=\"cyl\"/>" << std::endl;
-            out_file << "    <arg name=\"radius\"  value=\"" << data.radius << "\"/>" << std::endl;
-            out_file << "    <arg name=\"height\"  value=\"" << data.height << "\"/>" << std::endl;
-          }
-          world=object.get_world_pose();
-          out_file << "    <arg name=\"x\"  value=\"" << world.x << "\"/>" << std::endl;
-          out_file << "    <arg name=\"y\"  value=\"" << world.y << "\"/>" << std::endl;
-          out_file << "    <arg name=\"yaw\"  value=\"" << world.heading << "\"/>" << std::endl;
-          out_file << "    <arg name=\"parent\"  value=\"$(arg parent)\"/>" << std::endl;
-          out_file << "  </include>" << std::endl;
         }
       }
     }