Added road_sclae as argument

include/adc_circuit.h

@@ -13,7 +13,6 @@
 
 #define SIGNS_LAUNCH_FILE "spawn_signs.launch"
 #define OBJECTS_LAUNCH_FILE "spawn_objects.launch"
-#define ROAD_SCALE 10
 
 /**
  * \class CAdcCircuit
@@ -27,6 +26,7 @@ class CAdcCircuit
 {
   private:
     std::vector<CAdcRoad*> roads;///< Variable to store an access each road data.
+    double road_scale;///< The scale of the road to divide by the objects and signals poses.
 
     /**
      * \brief Function to add a road.
@@ -108,6 +108,14 @@ class CAdcCircuit
      *
      */
     void load(std::unique_ptr<OpenDRIVE> &open_drive);
+
+    /**
+     * \brief Function to set road_Scale.
+     *
+     * \param road_scale The scale of the road to divide by the objects and signals poses.
+     *
+     */
+    void set_road_scale(double road_scale=1.0);
 };
 
 #endif

include/opendrive_to_gazebo.h

@@ -18,9 +18,11 @@ class COpenDriveFormat
   public:
     /**
      * \brief Default constructor.
+     *
+     * \param road_scale The scale of the road to divide by the objects and signals poses.
      *  
      */
-    COpenDriveFormat();
+    COpenDriveFormat(double road_scale);
 
     /**
      * \brief Function to store on adc_circuit the useful information of a .xodr file.

src/adc_circuit.cpp

@@ -6,11 +6,12 @@
 
 CAdcCircuit::CAdcCircuit()
 {
-
+  this->road_scale = 1.0;
 }
 
 CAdcCircuit::~CAdcCircuit()
 {
+  this->road_scale = 1.0;
   clear_roads();
 }
 
@@ -77,11 +78,11 @@ void CAdcCircuit::generate_spawn_launch_files(std::string &dir)
 
   //sign info
   for (unsigned int i = 0; i < this->roads.size(); i++)
-    this->roads[i]->append_signs_spawn(signs_filename, ROAD_SCALE);
+    this->roads[i]->append_signs_spawn(signs_filename, this->road_scale);
 
   //object info
   for (unsigned int i = 0; i < this->roads.size(); i++)
-    this->roads[i]->append_objects_spawn(objects_filename, ROAD_SCALE);
+    this->roads[i]->append_objects_spawn(objects_filename, this->road_scale);
 
   //End
   oss.str("");
@@ -112,3 +113,8 @@ void CAdcCircuit::load(std::unique_ptr<OpenDRIVE> &open_drive)
     add_road(road);
   }
 }
+
+void CAdcCircuit::set_road_scale(double road_scale)
+{
+  this->road_scale = road_scale;
+}

src/examples/opendrive_to_gazebo_test.cpp

@@ -3,25 +3,43 @@
 #include <iostream>
 #include <vector>
 #include "adc_signals.h"
+#include <stdexcept>
 
 int main(int argc, char *argv[])
 {
-  if (argc != 3)
+  if (argc != 3 && argc != 4)
   {
     std::cerr << "ERROR: Missing input arguments.The usage of this program is:" << std::endl;
-    std::cerr << "opendrive_to_gazebo_test <xodr input file path> <output launch file direcctory>" << std::endl;
+    std::cerr << "opendrive_to_gazebo_test <xodr input file path> <output launch file direcctory> [optional]<road_scale>" << std::endl;
     return -1;
   }
-  COpenDriveFormat open_drive_format;
   std::string xml_file = argv[1];
   std::string launch_dir = argv[2];
+  double road_scale;
   int slash_index, point_index;
   slash_index = xml_file.find_last_of("/");
   point_index = xml_file.find_last_of(".");
   std::string file_name = xml_file.substr(xml_file.find_last_of("/")+1, point_index - slash_index -1);
-  std::cout << "file name " << file_name << std::endl;
   std::string launch_base_name = launch_dir + file_name;
 
+  if (argc == 4)
+  {
+    try
+    {
+      road_scale = std::stod(argv[3]);
+    }
+    catch (const std::invalid_argument& e)
+    {
+      std::cerr << "ERROR: Invalid road_scale, it must be a double: " << e.what() << std::endl;
+      return -1;
+    }
+  }
+  else
+  {
+    road_scale = 1.0;
+  }
+  COpenDriveFormat open_drive_format(road_scale);
+
   try
   {
     open_drive_format.load(xml_file, false);

src/opendrive_to_gazebo.cpp

@@ -16,8 +16,9 @@
 #include "xml/OpenDRIVE_1.4H.hxx"
 #endif
 
-COpenDriveFormat::COpenDriveFormat()
+COpenDriveFormat::COpenDriveFormat(double road_scale)
 {
+  adc_circuit.set_road_scale(road_scale);
 }
 
 void COpenDriveFormat::load(std::string &filename, bool debug)