Commit d22f1ff0 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Changes to handle the sempahores.

parent 769a372a
Pipeline #6613 passed with stages
in 1 minute and 18 seconds
......@@ -147,14 +147,21 @@ void generate_signals_launch(std::string &path,std::string &signals_file,COpendr
signal.get_type(type,subtype);
get_signal_type_info(type,subtype,signal.get_value(),name,marker);
out_file << std::endl;
out_file << " <include file=\"$(find iri_sign_description)/launch/spawn_sign.launch\">" << std::endl;
if(type==SEMAPHORE_TYPE)
out_file << " <include file=\"$(find iri_sign_description)/launch/spawn_semaphore.launch\">" << std::endl;
else
out_file << " <include file=\"$(find iri_sign_description)/launch/spawn_sign.launch\">" << std::endl;
out_file << " <arg name=\"name\" value=\"" << name << "_" << signal.get_id() << "\"/>" << std::endl;
if(type==SEMAPHORE_TYPE)
{
out_file << " <arg name=\"model\" value=\"semaphore\"/>" << std::endl;
out_file << " <arg name=\"initial_state\" value=\"True\"/>" << std::endl;
}
else
{
out_file << " <arg name=\"model\" value=\"sign\"/>" << std::endl;
out_file << " <arg name=\"tag\" value=\"" << marker << "\"/>" << std::endl;
out_file << " <arg name=\"type\" value=\"" << name << "\"/>" << std::endl;
out_file << " <arg name=\"type\" value=\"" << name << "\"/>" << std::endl;
}
world=signal.get_world_pose();
out_file << " <arg name=\"x\" value=\"" << world.x << "\"/>" << std::endl;
out_file << " <arg name=\"y\" value=\"" << world.y << "\"/>" << std::endl;
......
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