diff --git a/images/Kinectic.JPG b/images/Kinectic.JPG new file mode 100644 index 00000000..c69e8fe1 Binary files /dev/null and b/images/Kinectic.JPG differ diff --git a/images/ROScheatsheet_catkin-1.png b/images/ROScheatsheet_catkin-1.png new file mode 100644 index 00000000..b063a2aa Binary files /dev/null and b/images/ROScheatsheet_catkin-1.png differ diff --git a/images/ROScheatsheet_catkin-2.png b/images/ROScheatsheet_catkin-2.png new file mode 100644 index 00000000..3ea4635b Binary files /dev/null and b/images/ROScheatsheet_catkin-2.png differ diff --git a/images/ROScheatsheet_catkin-3.png b/images/ROScheatsheet_catkin-3.png new file mode 100644 index 00000000..27c3e448 Binary files /dev/null and b/images/ROScheatsheet_catkin-3.png differ diff --git a/images/ROScheatsheet_catkin.pdf b/images/ROScheatsheet_catkin.pdf new file mode 100644 index 00000000..5ad7a5b2 Binary files /dev/null and b/images/ROScheatsheet_catkin.pdf differ diff --git a/images/Robot05.png b/images/Robot05.png new file mode 100644 index 00000000..99a394f9 Binary files /dev/null and b/images/Robot05.png differ diff --git a/images/Signal_panel.png b/images/Signal_panel.png new file mode 100644 index 00000000..fc412556 Binary files /dev/null and b/images/Signal_panel.png differ diff --git a/images/SoftwareGuide.png b/images/SoftwareGuide.png new file mode 100644 index 00000000..063d3a35 Binary files /dev/null and b/images/SoftwareGuide.png differ diff --git a/images/camera_config_1.png b/images/camera_config_1.png new file mode 100644 index 00000000..d87be22e Binary files /dev/null and b/images/camera_config_1.png differ diff --git a/images/catkin-ws.png b/images/catkin-ws.png new file mode 100644 index 00000000..040074ff Binary files /dev/null and b/images/catkin-ws.png differ diff --git a/images/gazebo_rqt_graph.png b/images/gazebo_rqt_graph.png new file mode 100644 index 00000000..106c392a Binary files /dev/null and b/images/gazebo_rqt_graph.png differ diff --git a/images/new_rqt_graph.png b/images/new_rqt_graph.png new file mode 100644 index 00000000..74c7b449 Binary files /dev/null and b/images/new_rqt_graph.png differ diff --git a/images/ros-folders.png b/images/ros-folders.png new file mode 100644 index 00000000..77aa2af3 Binary files /dev/null and b/images/ros-folders.png differ diff --git a/images/rqt_gazebo.png b/images/rqt_gazebo.png new file mode 100644 index 00000000..2b408700 Binary files /dev/null and b/images/rqt_gazebo.png differ diff --git a/prometheus_bringup/launch/traxxas_drive1_kinect.launch b/prometheus_bringup/launch/traxxas_drive1_kinect.launch new file mode 100644 index 00000000..cf822a5c --- /dev/null +++ b/prometheus_bringup/launch/traxxas_drive1_kinect.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/prometheus_bringup/launch/traxxas_drive2a_kinect.launch b/prometheus_bringup/launch/traxxas_drive2a_kinect.launch new file mode 100644 index 00000000..89a29976 --- /dev/null +++ b/prometheus_bringup/launch/traxxas_drive2a_kinect.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/prometheus_bringup/launch/traxxas_drive_write_kinect.launch b/prometheus_bringup/launch/traxxas_drive_write_kinect.launch new file mode 100644 index 00000000..f8af5b2a --- /dev/null +++ b/prometheus_bringup/launch/traxxas_drive_write_kinect.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/prometheus_bringup/launch/traxxas_free_drive_kinectic.launch b/prometheus_bringup/launch/traxxas_free_drive_kinectic.launch new file mode 100644 index 00000000..0022ada9 --- /dev/null +++ b/prometheus_bringup/launch/traxxas_free_drive_kinectic.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/obstacle/model.config b/prometheus_gazebo/description/models/obstacle/model.config new file mode 100755 index 00000000..7affdb9e --- /dev/null +++ b/prometheus_gazebo/description/models/obstacle/model.config @@ -0,0 +1,10 @@ + + obstacle + 1.0 + + obstacle.sdf + + + green obstacle + + diff --git a/prometheus_gazebo/description/models/obstacle/obstacle.sdf b/prometheus_gazebo/description/models/obstacle/obstacle.sdf new file mode 100755 index 00000000..03fc80ab --- /dev/null +++ b/prometheus_gazebo/description/models/obstacle/obstacle.sdf @@ -0,0 +1,29 @@ + + + + 1 0 0 0 0 0 + + 0 0 .5 0 0 0 + + + + 0.6 0.6 0.3 + + + + + + + 0.6 0.6 0.3 + + + + + + + + + diff --git a/prometheus_gazebo/description/models/trafficCone/TrafficConeColor.dae b/prometheus_gazebo/description/models/trafficCone/TrafficConeColor.dae new file mode 100755 index 00000000..372a877d --- /dev/null +++ b/prometheus_gazebo/description/models/trafficCone/TrafficConeColor.dae @@ -0,0 +1,140 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-01-26T19:13:35 + 2016-01-26T19:13:35 + + Z_UP + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.1690575 0 1 + + + 0.2588652 0.2588652 0.2588652 1 + + + 50 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + + + + 1.25 -1.25 1.15218e-4 0.5425605 -0.5425605 0 0.2936316 -0.7088896 0 0.7088896 -0.2936316 0 0.3670396 -1.25 1.15218e-4 1.254728 -0.3670396 -0.002189099 0.1790449 -0.1790449 3 0.09689843 -0.2339335 3 0.2339335 -0.09689843 3 -1.25 -1.25 1.15218e-4 -0.5425605 -0.5425605 0 0 -0.7672965 0 -0.2936316 -0.7088896 0 -0.7088896 -0.2936316 0 0 -1.25 1.15218e-4 -0.3670396 -1.25 1.15218e-4 -1.254728 -0.3670396 -0.002189099 -0.179045 -0.1790449 3 0 -0.2532079 3 -0.09689843 -0.2339335 3 -0.2339335 -0.09689843 3 1.25 1.25 1.15218e-4 0.5425605 0.5425605 0 0.7672965 0 0 0.2936316 0.7088896 0 0.7088896 0.2936316 0 0.3670396 1.25 1.15218e-4 0.7672965 0 0 1.25 0 1.15218e-4 1.254728 0.3670396 -0.002189099 0.1790449 0.179045 3 0.09689843 0.2339335 3 0.2339335 0.09689843 3 0.2532079 0 3 -1.25 1.25 1.15218e-4 -0.5425605 0.5425605 0 0 0.7672965 0 -0.7672965 0 0 -0.2936316 0.7088896 0 -0.7088896 0.2936316 0 0 1.25 1.15218e-4 -0.3670396 1.25 1.15218e-4 -0.7672965 0 0 0 0 0 -1.25 0 1.15218e-4 -1.254728 0.3670396 -0.002189099 -0.179045 0.179045 3 0 0.2532079 3 -0.09689843 0.2339335 3 -0.2339335 0.09689843 3 -0.2532079 0 3 0 0 3 1.25 -1.25 -0.2498847 0.3670396 -1.25 -0.2498847 1.254728 -0.3670396 -0.2521891 -1.25 -1.25 -0.2498847 0 -1.25 -0.2498847 -0.3670396 -1.25 -0.2498847 -1.254728 -0.3670396 -0.2521891 1.25 1.25 -0.2498847 0.3670396 1.25 -0.2498847 1.25 0 -0.2498847 1.254728 0.3670396 -0.2521891 -1.25 1.25 -0.2498847 0 1.25 -0.2498847 -0.3670396 1.25 -0.2498847 -1.25 0 -0.2498847 -1.254728 0.3670396 -0.2521891 0 0 -0.2504609 0 -0.3919414 2.190411 0.1499894 -0.3621066 2.190411 0.2771444 -0.2771444 2.190411 0.3621066 -0.1499894 2.190411 0.3919414 0 2.190411 -0.1499894 -0.3621066 2.190411 -0.2771444 -0.2771444 2.190411 -0.3621066 -0.1499894 2.190411 -0.3919414 0 2.190411 0 0.3919414 2.190411 0.1499894 0.3621066 2.190411 0.2771444 0.2771444 2.190411 0.3621066 0.1499894 2.190411 -0.1499894 0.3621066 2.190411 -0.2771444 0.2771444 2.190411 -0.3621066 0.1499894 2.190411 0.1982548 -0.4786294 1.454409 0.4786294 -0.1982548 1.454409 0.5180647 0 1.454409 -0.1982548 -0.4786294 1.454409 -0.4786294 -0.1982548 1.454409 -0.5180647 0 1.454409 0.1982548 0.4786294 1.454409 0.4786294 0.1982548 1.454409 -0.1982548 0.4786294 1.454409 -0.4786294 0.1982548 1.454409 0 -0.5180647 1.454409 0.3663271 -0.3663271 1.454409 -0.3663271 -0.3663271 1.454409 0 0.5180647 1.454409 0.3663271 0.3663271 1.454409 -0.3663271 0.3663271 1.454409 + + + + + + + + + + 0 -0.5924388 0.8056155 0 -0.7070305 0.7071831 0.4198769 -0.4186257 0.8052676 0.2266952 -0.5473585 0.8056103 0.5936529 0 0.8047213 0.5491675 -0.2275837 0.8041273 0.7108495 0.001861631 0.7033418 0.2629224 -0.6347982 0.7265693 0 -0.687101 0.7265619 0 -0.9856349 0.168891 0.6347982 -0.2629224 0.7265693 0.4858642 -0.4858337 0.7265685 0.6969485 -0.6969485 0.1688961 0.687101 0 0.7265619 0.9106062 -0.3771888 0.1688941 0.3771888 -0.9106062 0.1688941 -0.2266952 -0.5473585 0.8056103 -0.4198769 -0.4186257 0.8052676 -0.7108495 0.001861631 0.7033418 -0.5491675 -0.2275837 0.8041273 -0.5936529 0 0.8047213 -0.2629224 -0.6347982 0.7265693 -0.6969485 -0.6969485 0.1688961 -0.4858642 -0.4858337 0.7265685 -0.6347982 -0.2629224 0.7265693 -0.9106062 -0.3771888 0.1688941 -0.687101 0 0.7265619 -0.3771888 -0.9106062 0.1688941 0 0.5924388 0.8056155 0.2266952 0.5473585 0.8056103 0 0.7070305 0.7071831 0.4198769 0.4186257 0.8052676 0.7108495 -0.001861631 0.7033418 0.5491675 0.2275837 0.8041273 0 0.9856349 0.168891 0 0.687101 0.7265619 0.2629224 0.6347982 0.7265693 0.6969485 0.6969485 0.1688961 0.4858642 0.4858337 0.7265685 0.6347982 0.2629224 0.7265693 0.9106062 0.3771888 0.1688941 0.3771888 0.9106062 0.1688941 -0.4198769 0.4186257 0.8052676 -0.2266952 0.5473585 0.8056103 -0.5491675 0.2275837 0.8041273 -0.7108495 -0.001861631 0.7033418 -0.2629224 0.6347982 0.7265693 -0.6347982 0.2629224 0.7265693 -0.4858642 0.4858337 0.7265685 -0.6969485 0.6969485 0.1688961 -0.9106062 0.3771888 0.1688941 -0.3771888 0.9106062 0.1688941 0 0 1 0 0.7072746 -0.7069389 -0.5755986 0.5792304 -0.5772162 -0.575752 -0.5783156 0.5779799 -0.5755986 -0.5792304 -0.5772162 0 -0.7072746 -0.7069389 0.575752 0.5783156 0.5779799 0.5755986 0.5792304 -0.5772162 -0.7077739 -0.003357112 -0.7064311 -0.7057626 0 -0.7084484 0.7077739 0.003357112 -0.7064311 0.7057626 0 -0.7084484 -0.575752 0.5783156 0.5779799 0.702683 0 0.7115031 -0.702683 0 0.7115031 0.575752 -0.5783156 0.5779799 0.5755986 -0.5792304 -0.5772162 0.7077739 -0.003357112 -0.7064311 -0.7077739 0.003357112 -0.7064311 0 0 -1 -0.9856349 0 0.168891 0.9856349 0 0.168891 + + + + + + + + + + + + + +

23 3 27 23 23 43 43 11 37 13 42 37 37 43 23 25 43 36 37 39

+ + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

11 0 14 1 4 1 1 2 2 3 4 1 27 4 3 5 5 6 5 6 3 5 1 2 7 7 18 8 69 9 8 10 6 11 71 12 33 13 8 10 72 14 6 11 7 7 70 15 11 0 12 16 15 1 15 1 12 16 10 17 16 18 13 19 42 20 10 17 13 19 16 18 69 9 18 8 19 21 75 22 17 23 20 24 76 25 20 24 50 26 74 27 19 21 17 23 36 28 24 29 26 30 26 30 24 29 22 31 29 32 25 33 27 4 22 31 25 33 29 32 78 34 47 35 31 36 80 37 30 38 32 39 81 40 32 39 33 13 79 41 31 36 30 38 36 28 40 30 41 30 35 42 38 43 41 30 42 20 39 44 45 45 45 45 39 44 35 42 48 46 47 35 78 34 49 47 46 48 83 49 50 26 49 47 84 50 46 48 48 46 82 51 48 46 46 48 51 52 7 7 6 11 51 52 47 35 48 46 51 52 18 8 7 7 51 52 46 48 49 47 51 52 30 38 31 36 51 52 17 23 19 21 51 52 6 11 8 10 51 52 49 47 50 26 51 52 31 36 47 35 51 52 19 21 18 8 51 52 8 10 33 13 51 52 32 39 30 38 51 52 20 24 17 23 51 52 33 13 32 39 51 52 50 26 20 24 51 52 41 30 65 53 63 54 9 55 55 56 57 57 21 58 59 59 60 53 45 45 67 60 66 61 14 1 56 57 53 57 5 6 54 62 61 63 45 45 34 64 63 54 29 32 28 65 61 63 16 18 44 66 66 61 5 6 0 67 52 68 4 1 53 57 52 68 40 30 64 53 65 53 26 30 60 53 64 53 15 1 57 57 56 57 29 32 62 69 59 59 16 18 58 70 55 56 60 53 59 59 68 71 61 63 54 62 68 71 62 69 61 63 68 71 54 62 52 68 68 71 59 59 62 69 68 71 56 57 57 57 68 71 65 53 64 53 68 71 57 57 55 56 68 71 63 54 65 53 68 71 58 70 66 61 68 71 66 61 67 60 68 71 55 56 58 70 68 71 53 57 56 57 68 71 67 60 63 54 68 71 64 53 60 53 68 71 52 68 53 57 68 71 85 15 95 9 11 0 86 14 96 12 1 2 87 73 86 14 3 5 96 12 85 15 2 3 11 0 95 9 88 27 10 17 97 22 89 25 13 19 89 25 90 72 12 16 88 27 97 22 36 28 98 34 91 41 22 31 99 37 92 40 25 33 92 40 87 73 24 29 91 41 99 37 93 51 98 34 36 28 94 50 100 49 35 42 90 72 94 50 39 44 100 49 93 51 38 43 2 3 11 0 4 1 0 67 1 2 4 1 28 65 27 4 5 6 0 67 5 6 1 2 70 15 7 7 69 9 72 14 8 10 71 12 73 73 33 13 72 14 71 12 6 11 70 15 14 1 11 0 15 1 9 55 15 1 10 17 44 66 16 18 42 20 9 55 10 17 16 18 74 27 69 9 19 21 76 25 75 22 20 24 77 72 76 25 50 26 75 22 74 27 17 23 40 30 36 28 26 30 21 58 26 30 22 31 28 65 29 32 27 4 21 58 22 31 29 32 79 41 78 34 31 36 81 40 80 37 32 39 73 73 81 40 33 13 80 37 79 41 30 38 38 43 36 28 41 30 34 64 35 42 41 30 44 66 42 20 45 45 34 64 45 45 35 42 82 51 48 46 78 34 84 50 49 47 83 49 77 72 50 26 84 50 83 49 46 48 82 51 34 64 41 30 63 54 15 1 9 55 57 57 26 30 21 58 60 53 44 66 45 45 66 61 4 1 14 1 53 57 28 65 5 6 61 63 67 60 45 45 63 54 62 69 29 32 61 63 58 70 16 18 66 61 54 62 5 6 52 68 0 67 4 1 52 68 41 30 40 30 65 53 40 30 26 30 64 53 14 1 15 1 56 57 21 58 29 32 59 59 9 55 16 18 55 56 2 3 85 15 11 0 3 5 86 14 1 2 27 4 87 73 3 5 1 2 96 12 2 3 12 16 11 0 88 27 13 19 10 17 89 25 42 20 13 19 90 72 10 17 12 16 97 22 24 29 36 28 91 41 25 33 22 31 92 40 27 4 25 33 87 73 22 31 24 29 99 37 38 43 93 51 36 28 39 44 94 50 35 42 42 20 90 72 39 44 35 42 100 49 38 43

+ + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

100 49 83 49 82 51 77 72 84 50 94 50 84 50 83 49 100 49 82 51 78 34 98 34 99 37 91 41 79 41 92 40 81 40 73 73 99 37 80 37 81 40 98 34 78 34 79 41 97 22 88 27 74 27 89 25 76 25 77 72 97 22 75 22 76 25 88 27 95 9 69 9 96 12 71 12 70 15 73 73 72 14 86 14 72 14 71 12 96 12 85 15 70 15 69 9 93 51 100 49 82 51 90 72 77 72 94 50 94 50 84 50 100 49 93 51 82 51 98 34 80 37 99 37 79 41 87 73 92 40 73 73 92 40 99 37 81 40 91 41 98 34 79 41 75 22 97 22 74 27 90 72 89 25 77 72 89 25 97 22 76 25 74 27 88 27 69 9 85 15 96 12 70 15 87 73 73 73 86 14 86 14 72 14 96 12 95 9 85 15 69 9

+ + + + + + + + + 0.06120467 0 0 0 0 0.06120467 0 0 0 0 0.06120467 0 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/trafficCone/model.config b/prometheus_gazebo/description/models/trafficCone/model.config new file mode 100755 index 00000000..fe27a438 --- /dev/null +++ b/prometheus_gazebo/description/models/trafficCone/model.config @@ -0,0 +1,6 @@ + + trafficCone + 1.0 + trafficCone.sdf + Traffic Cone + diff --git a/prometheus_gazebo/description/models/trafficCone/trafficCone.sdf b/prometheus_gazebo/description/models/trafficCone/trafficCone.sdf new file mode 100755 index 00000000..9e2ebd4b --- /dev/null +++ b/prometheus_gazebo/description/models/trafficCone/trafficCone.sdf @@ -0,0 +1,22 @@ + + + + + 0 0 0.01 0 0 0 + + + + model://trafficCone/TrafficConeColor.dae + + + + + + + model://trafficCone/TrafficConeColor.dae + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/materials/scripts/signal.material new file mode 100755 index 00000000..99eb8893 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Bus +{ + technique + { + pass + { + texture_unit + { + texture bus.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/materials/textures/bus.png b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/materials/textures/bus.png new file mode 100755 index 00000000..7ca3c198 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/materials/textures/bus.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/model.config new file mode 100755 index 00000000..4ab0af60 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/model.config @@ -0,0 +1,10 @@ + + Bus signal + 1.0 + + signal.sdf + + + Bus traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/signal.dae new file mode 100755 index 00000000..98b17ba8 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-17T15:38:44 + 2016-06-17T15:38:44 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 0 1 -1 0 1 1 0.1950903 0.9807853 -1 0.1950903 0.9807853 1 0.3826835 0.9238795 -1 0.3826835 0.9238795 1 0.5555703 0.8314696 -1 0.5555703 0.8314696 1 0.7071068 0.7071068 -1 0.7071068 0.7071068 1 0.8314697 0.5555702 -1 0.8314697 0.5555702 1 0.9238795 0.3826834 -1 0.9238795 0.3826834 1 0.9807853 0.1950903 -1 0.9807853 0.1950903 1 1 0 -1 1 0 1 0.9807853 -0.1950902 -1 0.9807853 -0.1950902 1 0.9238796 -0.3826833 -1 0.9238796 -0.3826833 1 0.8314697 -0.5555702 -1 0.8314697 -0.5555702 1 0.7071068 -0.7071068 -1 0.7071068 -0.7071068 1 0.5555702 -0.8314697 -1 0.5555702 -0.8314697 1 0.3826833 -0.9238796 -1 0.3826833 -0.9238796 1 0.1950901 -0.9807853 -1 0.1950901 -0.9807853 1 -3.25841e-7 -1 -1 -3.25841e-7 -1 1 -0.1950907 -0.9807852 -1 -0.1950907 -0.9807852 1 -0.3826839 -0.9238793 -1 -0.3826839 -0.9238793 1 -0.5555707 -0.8314693 -1 -0.5555707 -0.8314693 1 -0.7071073 -0.7071064 -1 -0.7071073 -0.7071064 1 -0.83147 -0.5555697 -1 -0.83147 -0.5555697 1 -0.9238799 -0.3826827 -1 -0.9238799 -0.3826827 1 -0.9807854 -0.1950894 -1 -0.9807854 -0.1950894 1 -1 9.65599e-7 -1 -1 9.65599e-7 1 -0.9807851 0.1950913 -1 -0.9807851 0.1950913 1 -0.9238791 0.3826845 -1 -0.9238791 0.3826845 1 -0.8314689 0.5555713 -1 -0.8314689 0.5555713 1 -0.7071059 0.7071077 -1 -0.7071059 0.7071077 1 -0.5555691 0.8314704 -1 -0.5555691 0.8314704 1 -0.3826821 0.9238801 -1 -0.3826821 0.9238801 1 -0.1950888 0.9807856 -1 -0.1950888 0.9807856 1 + + + + + + + + + + 0.09801727 0.9951847 0 0.2902847 0.9569404 0 0.4713967 0.8819213 0 0.6343932 0.7730106 0 0.7730103 0.6343936 0 0.8819215 0.4713966 0 0.9569404 0.2902848 0 0.9951847 0.09801727 0 0.9951847 -0.09801727 0 0.9569404 -0.2902848 0 0.8819216 -0.4713962 0 0.7730106 -0.6343932 0 0.6343934 -0.7730104 0 0.4713968 -0.8819214 0 0.2902843 -0.9569405 0 0.09801691 -0.9951848 0 -0.09801757 -0.9951848 0 -0.2902852 -0.9569402 0 -0.4713971 -0.8819211 0 -0.6343936 -0.7730103 0 -0.7730111 -0.6343926 0 -0.8819217 -0.4713961 0 -0.9569405 -0.2902839 0 -0.9951848 -0.09801661 0 -0.9951846 0.09801846 0 -0.95694 0.2902858 0 -0.881921 0.4713975 0 -0.7730096 0.6343944 0 -0.6343923 0.7730113 0 -0.4713955 0.881922 0 0 0 1 -0.0980165 0.9951848 0 -0.2902831 0.9569409 0 0 0 -1 0.2902846 0.9569405 0 0.6343935 0.7730103 0 0.7730106 0.6343932 0 0.9951848 -0.09801667 0 0.8819214 -0.4713968 0 0.7730103 -0.6343936 0 0.2902842 -0.9569405 0 -0.2902852 -0.9569402 0 -0.6343939 -0.77301 0 -0.7730109 -0.6343929 0 -0.9569407 -0.2902834 0 -0.9951849 -0.09801602 0 -0.9951847 0.09801787 0 -0.8819208 0.4713979 0 -0.6343926 0.7730111 0 0 0 1 -3.97511e-6 0 1 3.97512e-6 0 1 -1.36853e-6 0 1 1.43703e-6 0 1 -2.87796e-7 0 1 -3.88858e-7 0 1 -0.290283 0.9569408 0 -3.97511e-6 0 -1 3.97512e-6 0 -1 3.88857e-7 0 -1 0 0 -1 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.4072932 0.02545315 0.9660693 0.4104441 0.03393083 0.6016322 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.5927065 0.9866229 0.5 0.996038 0.4072932 0.9866227 0.4072932 0.9866227 0.3181487 0.9587389 0.5927065 0.9866229 0.235993 0.913458 0.1639828 0.8525204 0.1048856 0.7782673 0.1048856 0.7782673 0.06097245 0.6935529 0.03393083 0.6016322 0.03393083 0.6016322 0.02479994 0.506038 0.03393071 0.4104437 0.03393071 0.4104437 0.06097239 0.3185231 0.03393083 0.6016322 0.1048856 0.2338085 0.1639828 0.1595556 0.4072932 0.02545315 0.2359932 0.09861779 0.3181489 0.05333691 0.4072932 0.02545315 0.4072932 0.02545315 0.5000002 0.01603794 0.5927071 0.0254532 0.5927071 0.0254532 0.6818515 0.05333703 0.7640073 0.09861797 0.7640073 0.09861797 0.8360176 0.1595558 0.8951148 0.2338088 0.8951148 0.2338088 0.9390279 0.3185234 0.9660693 0.4104441 0.9660693 0.4104441 0.9752001 0.5060384 0.9660692 0.6016327 0.9660692 0.6016327 0.9390273 0.6935533 0.9660693 0.4104441 0.8951141 0.7782679 0.8360168 0.8525207 0.7640066 0.9134585 0.7640066 0.9134585 0.6818505 0.9587392 0.5927065 0.9866229 0.5927065 0.9866229 0.3181487 0.9587389 0.235993 0.913458 0.235993 0.913458 0.1048856 0.7782673 0.5927065 0.9866229 0.03393083 0.6016322 0.06097239 0.3185231 0.1048856 0.2338085 0.1639828 0.1595556 0.2359932 0.09861779 0.4072932 0.02545315 0.4072932 0.02545315 0.5927071 0.0254532 0.9660693 0.4104441 0.7640073 0.09861797 0.8951148 0.2338088 0.9660693 0.4104441 0.9660693 0.4104441 0.9390273 0.6935533 0.8951141 0.7782679 0.8951141 0.7782679 0.7640066 0.9134585 0.9660693 0.4104441 0.5927065 0.9866229 0.1048856 0.7782673 0.03393083 0.6016322 0.03393083 0.6016322 0.1048856 0.2338085 0.4072932 0.02545315 0.5927071 0.0254532 0.7640073 0.09861797 0.9660693 0.4104441 0.9660693 0.4104441 0.7640066 0.9134585 0.5927065 0.9866229 0.5927065 0.9866229 0.03393083 0.6016322 0.9660693 0.4104441 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

1 0 0 3 0 1 2 0 2 3 1 3 5 1 4 4 1 5 5 2 6 7 2 7 6 2 8 7 3 9 9 3 10 8 3 11 9 4 12 11 4 13 10 4 14 11 5 15 13 5 16 12 5 17 13 6 18 15 6 19 14 6 20 15 7 21 17 7 22 16 7 23 17 8 24 19 8 25 18 8 26 19 9 27 21 9 28 20 9 29 21 10 30 23 10 31 22 10 32 23 11 33 25 11 34 24 11 35 25 12 36 27 12 37 26 12 38 27 13 39 29 13 40 28 13 41 29 14 42 31 14 43 30 14 44 31 15 45 33 15 46 32 15 47 33 16 48 35 16 49 34 16 50 35 17 51 37 17 52 36 17 53 37 18 54 39 18 55 38 18 56 39 19 57 41 19 58 40 19 59 41 20 60 43 20 61 42 20 62 43 21 63 45 21 64 44 21 65 45 22 66 47 22 67 46 22 68 47 23 69 49 23 70 48 23 71 49 24 72 51 24 73 50 24 74 51 25 75 53 25 76 52 25 77 53 26 78 55 26 79 54 26 80 55 27 81 57 27 82 56 27 83 57 28 84 59 28 85 58 28 86 59 29 87 61 29 88 60 29 89 37 30 90 21 30 91 53 30 92 63 31 93 1 31 94 0 31 95 61 32 96 63 32 97 62 32 98 30 33 99 46 33 100 14 33 101 0 0 102 1 0 103 2 0 104 2 34 105 3 34 106 4 34 107 4 2 108 5 2 109 6 2 110 6 35 111 7 35 112 8 35 113 8 36 114 9 36 115 10 36 116 10 5 117 11 5 118 12 5 119 12 6 120 13 6 121 14 6 122 14 7 123 15 7 124 16 7 125 16 37 126 17 37 127 18 37 128 18 9 129 19 9 130 20 9 131 20 38 132 21 38 133 22 38 134 22 39 135 23 39 136 24 39 137 24 12 138 25 12 139 26 12 140 26 13 141 27 13 142 28 13 143 28 40 144 29 40 145 30 40 146 30 15 147 31 15 148 32 15 149 32 16 150 33 16 151 34 16 152 34 41 153 35 41 154 36 41 155 36 18 156 37 18 157 38 18 158 38 42 159 39 42 160 40 42 161 40 43 162 41 43 163 42 43 164 42 21 165 43 21 166 44 21 167 44 44 168 45 44 169 46 44 170 46 45 171 47 45 172 48 45 173 48 46 174 49 46 175 50 46 176 50 25 177 51 25 178 52 25 179 52 47 180 53 47 181 54 47 182 54 27 183 55 27 184 56 27 185 56 48 186 57 48 187 58 48 188 58 29 189 59 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 61 49 198 59 49 199 57 49 200 57 49 201 55 49 202 53 49 203 53 50 204 51 50 205 49 50 206 49 49 207 47 49 208 53 49 209 45 49 210 43 49 211 37 49 212 41 49 213 39 49 214 37 49 215 37 49 216 35 49 217 33 49 218 33 49 219 31 49 220 29 49 221 29 49 222 27 49 223 25 49 224 25 49 225 23 49 226 21 49 227 21 51 228 19 51 229 17 51 230 17 49 231 15 49 232 21 49 233 13 49 234 11 49 235 9 49 236 9 49 237 7 49 238 5 49 239 5 49 240 63 49 241 61 49 242 61 49 243 57 49 244 5 49 245 53 49 246 47 49 247 45 49 248 43 49 249 41 49 250 37 49 251 37 49 252 33 49 253 21 49 254 29 49 255 25 49 256 21 49 257 21 52 258 15 52 259 13 52 260 13 53 261 9 53 262 21 53 263 5 49 264 57 49 265 53 49 266 53 54 267 45 54 268 37 54 269 33 49 270 29 49 271 21 49 272 21 55 273 9 55 274 5 55 275 5 49 276 53 49 277 21 49 278 62 31 279 63 31 280 0 31 281 60 56 282 61 56 283 62 56 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 14 33 302 22 33 303 24 33 304 30 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 57 321 48 57 322 50 57 323 50 58 324 52 58 325 54 58 326 54 33 327 56 33 328 62 33 329 58 33 330 60 33 331 62 33 332 62 33 333 2 33 334 14 33 335 6 33 336 12 33 337 14 33 338 14 33 339 20 33 340 22 33 341 24 33 342 26 33 343 30 33 344 30 33 345 34 33 346 46 33 347 38 33 348 42 33 349 46 33 350 46 59 351 50 59 352 62 59 353 56 33 354 58 33 355 62 33 356 2 33 357 6 33 358 14 33 359 14 33 360 22 33 361 30 33 362 34 33 363 38 33 364 46 33 365 50 33 366 54 33 367 62 33 368 62 60 369 14 60 370 46 60 371

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 0.008208752 0.9551712 -0.1998834 0.2183912 -2.419622 -0.05518906 0.6045247 0.7946723 0.7074429 0 0 0 1 + + + + 0.1495024 -0.0300879 5.17449e-11 0 0 -6.66599e-9 -0.006 0 0.0300879 0.1495024 -2.57113e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/signal.sdf new file mode 100755 index 00000000..3d2e2843 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/BusSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://BusSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/materials/scripts/signal.material new file mode 100755 index 00000000..201d99f1 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Lights +{ + technique + { + pass + { + texture_unit + { + texture lights.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/materials/textures/lights.png b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/materials/textures/lights.png new file mode 100755 index 00000000..216035cf Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/materials/textures/lights.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/model.config new file mode 100755 index 00000000..8de04534 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/model.config @@ -0,0 +1,10 @@ + + Lights signal + 1.0 + + signal.sdf + + + Lights traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/signal.dae new file mode 100755 index 00000000..75e5470a --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-17T15:42:17 + 2016-06-17T15:42:17 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 0 1 -1 0 1 1 0.1950903 0.9807853 -1 0.1950903 0.9807853 1 0.3826835 0.9238795 -1 0.3826835 0.9238795 1 0.5555703 0.8314696 -1 0.5555703 0.8314696 1 0.7071068 0.7071068 -1 0.7071068 0.7071068 1 0.8314697 0.5555702 -1 0.8314697 0.5555702 1 0.9238795 0.3826834 -1 0.9238795 0.3826834 1 0.9807853 0.1950903 -1 0.9807853 0.1950903 1 1 0 -1 1 0 1 0.9807853 -0.1950902 -1 0.9807853 -0.1950902 1 0.9238796 -0.3826833 -1 0.9238796 -0.3826833 1 0.8314697 -0.5555702 -1 0.8314697 -0.5555702 1 0.7071068 -0.7071068 -1 0.7071068 -0.7071068 1 0.5555702 -0.8314697 -1 0.5555702 -0.8314697 1 0.3826833 -0.9238796 -1 0.3826833 -0.9238796 1 0.1950901 -0.9807853 -1 0.1950901 -0.9807853 1 -3.25841e-7 -1 -1 -3.25841e-7 -1 1 -0.1950907 -0.9807852 -1 -0.1950907 -0.9807852 1 -0.3826839 -0.9238793 -1 -0.3826839 -0.9238793 1 -0.5555707 -0.8314693 -1 -0.5555707 -0.8314693 1 -0.7071073 -0.7071064 -1 -0.7071073 -0.7071064 1 -0.83147 -0.5555697 -1 -0.83147 -0.5555697 1 -0.9238799 -0.3826827 -1 -0.9238799 -0.3826827 1 -0.9807854 -0.1950894 -1 -0.9807854 -0.1950894 1 -1 9.65599e-7 -1 -1 9.65599e-7 1 -0.9807851 0.1950913 -1 -0.9807851 0.1950913 1 -0.9238791 0.3826845 -1 -0.9238791 0.3826845 1 -0.8314689 0.5555713 -1 -0.8314689 0.5555713 1 -0.7071059 0.7071077 -1 -0.7071059 0.7071077 1 -0.5555691 0.8314704 -1 -0.5555691 0.8314704 1 -0.3826821 0.9238801 -1 -0.3826821 0.9238801 1 -0.1950888 0.9807856 -1 -0.1950888 0.9807856 1 + + + + + + + + + + 0.09801727 0.9951847 0 0.2902847 0.9569404 0 0.4713967 0.8819213 0 0.6343932 0.7730106 0 0.7730103 0.6343936 0 0.8819215 0.4713966 0 0.9569404 0.2902848 0 0.9951847 0.09801727 0 0.9951847 -0.09801727 0 0.9569404 -0.2902848 0 0.8819216 -0.4713962 0 0.7730106 -0.6343932 0 0.6343934 -0.7730104 0 0.4713968 -0.8819214 0 0.2902843 -0.9569405 0 0.09801691 -0.9951848 0 -0.09801757 -0.9951848 0 -0.2902852 -0.9569402 0 -0.4713971 -0.8819211 0 -0.6343936 -0.7730103 0 -0.7730111 -0.6343926 0 -0.8819217 -0.4713961 0 -0.9569405 -0.2902839 0 -0.9951848 -0.09801661 0 -0.9951846 0.09801846 0 -0.95694 0.2902858 0 -0.881921 0.4713975 0 -0.7730096 0.6343944 0 -0.6343923 0.7730113 0 -0.4713955 0.881922 0 0 0 1 -0.0980165 0.9951848 0 -0.2902831 0.9569409 0 0 0 -1 0.2902846 0.9569405 0 0.6343935 0.7730103 0 0.7730106 0.6343932 0 0.9951848 -0.09801667 0 0.8819214 -0.4713968 0 0.7730103 -0.6343936 0 0.2902842 -0.9569405 0 -0.2902852 -0.9569402 0 -0.6343939 -0.77301 0 -0.7730109 -0.6343929 0 -0.9569407 -0.2902834 0 -0.9951849 -0.09801602 0 -0.9951847 0.09801787 0 -0.8819208 0.4713979 0 -0.6343926 0.7730111 0 0 0 1 -3.97511e-6 0 1 3.97512e-6 0 1 -1.36853e-6 0 1 1.43703e-6 0 1 -2.87796e-7 0 1 -3.88858e-7 0 1 -0.290283 0.9569408 0 -3.97511e-6 0 -1 3.97512e-6 0 -1 3.88857e-7 0 -1 0 0 -1 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.4028258 0.02815222 0.9616019 0.4073684 0.02946352 0.5956886 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.5882391 0.9749045 0.4955326 0.9841783 0.4028258 0.9749042 0.4028258 0.9749042 0.3136814 0.9474387 0.5882391 0.9749045 0.2315257 0.902837 0.1595155 0.8428134 0.1004183 0.7696742 0.1004183 0.7696742 0.05650508 0.6862304 0.02946352 0.5956886 0.02946352 0.5956886 0.02033257 0.5015283 0.02946341 0.407368 0.02946341 0.407368 0.05650502 0.3168262 0.02946352 0.5956886 0.1004183 0.2333823 0.1595155 0.1602432 0.4028258 0.02815222 0.2315258 0.1002194 0.3136815 0.05561774 0.4028258 0.02815222 0.4028258 0.02815222 0.4955328 0.01887828 0.5882397 0.02815228 0.5882397 0.02815228 0.6773841 0.05561792 0.7595397 0.1002196 0.7595397 0.1002196 0.8315501 0.1602433 0.8906474 0.2333825 0.8906474 0.2333825 0.9345604 0.3168265 0.9616019 0.4073684 0.9616019 0.4073684 0.9707326 0.5015287 0.9616017 0.5956891 0.9616017 0.5956891 0.9345599 0.6862309 0.9616019 0.4073684 0.8906466 0.7696747 0.8315494 0.8428138 0.7595391 0.9028375 0.7595391 0.9028375 0.6773831 0.947439 0.5882391 0.9749045 0.5882391 0.9749045 0.3136814 0.9474387 0.2315257 0.902837 0.2315257 0.902837 0.1004183 0.7696742 0.5882391 0.9749045 0.02946352 0.5956886 0.05650502 0.3168262 0.1004183 0.2333823 0.1595155 0.1602432 0.2315258 0.1002194 0.4028258 0.02815222 0.4028258 0.02815222 0.5882397 0.02815228 0.9616019 0.4073684 0.7595397 0.1002196 0.8906474 0.2333825 0.9616019 0.4073684 0.9616019 0.4073684 0.9345599 0.6862309 0.8906466 0.7696747 0.8906466 0.7696747 0.7595391 0.9028375 0.9616019 0.4073684 0.5882391 0.9749045 0.1004183 0.7696742 0.02946352 0.5956886 0.02946352 0.5956886 0.1004183 0.2333823 0.4028258 0.02815222 0.5882397 0.02815228 0.7595397 0.1002196 0.9616019 0.4073684 0.9616019 0.4073684 0.7595391 0.9028375 0.5882391 0.9749045 0.5882391 0.9749045 0.02946352 0.5956886 0.9616019 0.4073684 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

1 0 0 3 0 1 2 0 2 3 1 3 5 1 4 4 1 5 5 2 6 7 2 7 6 2 8 7 3 9 9 3 10 8 3 11 9 4 12 11 4 13 10 4 14 11 5 15 13 5 16 12 5 17 13 6 18 15 6 19 14 6 20 15 7 21 17 7 22 16 7 23 17 8 24 19 8 25 18 8 26 19 9 27 21 9 28 20 9 29 21 10 30 23 10 31 22 10 32 23 11 33 25 11 34 24 11 35 25 12 36 27 12 37 26 12 38 27 13 39 29 13 40 28 13 41 29 14 42 31 14 43 30 14 44 31 15 45 33 15 46 32 15 47 33 16 48 35 16 49 34 16 50 35 17 51 37 17 52 36 17 53 37 18 54 39 18 55 38 18 56 39 19 57 41 19 58 40 19 59 41 20 60 43 20 61 42 20 62 43 21 63 45 21 64 44 21 65 45 22 66 47 22 67 46 22 68 47 23 69 49 23 70 48 23 71 49 24 72 51 24 73 50 24 74 51 25 75 53 25 76 52 25 77 53 26 78 55 26 79 54 26 80 55 27 81 57 27 82 56 27 83 57 28 84 59 28 85 58 28 86 59 29 87 61 29 88 60 29 89 37 30 90 21 30 91 53 30 92 63 31 93 1 31 94 0 31 95 61 32 96 63 32 97 62 32 98 30 33 99 46 33 100 14 33 101 0 0 102 1 0 103 2 0 104 2 34 105 3 34 106 4 34 107 4 2 108 5 2 109 6 2 110 6 35 111 7 35 112 8 35 113 8 36 114 9 36 115 10 36 116 10 5 117 11 5 118 12 5 119 12 6 120 13 6 121 14 6 122 14 7 123 15 7 124 16 7 125 16 37 126 17 37 127 18 37 128 18 9 129 19 9 130 20 9 131 20 38 132 21 38 133 22 38 134 22 39 135 23 39 136 24 39 137 24 12 138 25 12 139 26 12 140 26 13 141 27 13 142 28 13 143 28 40 144 29 40 145 30 40 146 30 15 147 31 15 148 32 15 149 32 16 150 33 16 151 34 16 152 34 41 153 35 41 154 36 41 155 36 18 156 37 18 157 38 18 158 38 42 159 39 42 160 40 42 161 40 43 162 41 43 163 42 43 164 42 21 165 43 21 166 44 21 167 44 44 168 45 44 169 46 44 170 46 45 171 47 45 172 48 45 173 48 46 174 49 46 175 50 46 176 50 25 177 51 25 178 52 25 179 52 47 180 53 47 181 54 47 182 54 27 183 55 27 184 56 27 185 56 48 186 57 48 187 58 48 188 58 29 189 59 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 61 49 198 59 49 199 57 49 200 57 49 201 55 49 202 53 49 203 53 50 204 51 50 205 49 50 206 49 49 207 47 49 208 53 49 209 45 49 210 43 49 211 37 49 212 41 49 213 39 49 214 37 49 215 37 49 216 35 49 217 33 49 218 33 49 219 31 49 220 29 49 221 29 49 222 27 49 223 25 49 224 25 49 225 23 49 226 21 49 227 21 51 228 19 51 229 17 51 230 17 49 231 15 49 232 21 49 233 13 49 234 11 49 235 9 49 236 9 49 237 7 49 238 5 49 239 5 49 240 63 49 241 61 49 242 61 49 243 57 49 244 5 49 245 53 49 246 47 49 247 45 49 248 43 49 249 41 49 250 37 49 251 37 49 252 33 49 253 21 49 254 29 49 255 25 49 256 21 49 257 21 52 258 15 52 259 13 52 260 13 53 261 9 53 262 21 53 263 5 49 264 57 49 265 53 49 266 53 54 267 45 54 268 37 54 269 33 49 270 29 49 271 21 49 272 21 55 273 9 55 274 5 55 275 5 49 276 53 49 277 21 49 278 62 31 279 63 31 280 0 31 281 60 56 282 61 56 283 62 56 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 14 33 302 22 33 303 24 33 304 30 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 57 321 48 57 322 50 57 323 50 58 324 52 58 325 54 58 326 54 33 327 56 33 328 62 33 329 58 33 330 60 33 331 62 33 332 62 33 333 2 33 334 14 33 335 6 33 336 12 33 337 14 33 338 14 33 339 20 33 340 22 33 341 24 33 342 26 33 343 30 33 344 30 33 345 34 33 346 46 33 347 38 33 348 42 33 349 46 33 350 46 59 351 50 59 352 62 59 353 56 33 354 58 33 355 62 33 356 2 33 357 6 33 358 14 33 359 14 33 360 22 33 361 30 33 362 34 33 363 38 33 364 46 33 365 50 33 366 54 33 367 62 33 368 62 60 369 14 60 370 46 60 371

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 0.008208752 0.9551712 -0.1998834 0.2183912 -2.419622 -0.05518906 0.6045247 0.7946723 0.7074429 0 0 0 1 + + + + 0.1495024 -0.0300879 5.17449e-11 0 0 -6.66599e-9 -0.006 0 0.0300879 0.1495024 -2.57113e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/signal.sdf new file mode 100755 index 00000000..8780da90 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/LightsSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://LightsSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/materials/scripts/signal.material new file mode 100755 index 00000000..879fd721 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/RoundAbout +{ + technique + { + pass + { + texture_unit + { + texture round_about.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/materials/textures/round_about.png b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/materials/textures/round_about.png new file mode 100755 index 00000000..008ca253 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/materials/textures/round_about.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/model.config new file mode 100755 index 00000000..d2d3fd56 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/model.config @@ -0,0 +1,10 @@ + + Round About signal + 1.0 + + signal.sdf + + + Round About signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/signal.dae new file mode 100755 index 00000000..ae243abf --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-17T15:45:42 + 2016-06-17T15:45:42 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 0 1 -1 0 1 1 0.1950903 0.9807853 -1 0.1950903 0.9807853 1 0.3826835 0.9238795 -1 0.3826835 0.9238795 1 0.5555703 0.8314696 -1 0.5555703 0.8314696 1 0.7071068 0.7071068 -1 0.7071068 0.7071068 1 0.8314697 0.5555702 -1 0.8314697 0.5555702 1 0.9238795 0.3826834 -1 0.9238795 0.3826834 1 0.9807853 0.1950903 -1 0.9807853 0.1950903 1 1 0 -1 1 0 1 0.9807853 -0.1950902 -1 0.9807853 -0.1950902 1 0.9238796 -0.3826833 -1 0.9238796 -0.3826833 1 0.8314697 -0.5555702 -1 0.8314697 -0.5555702 1 0.7071068 -0.7071068 -1 0.7071068 -0.7071068 1 0.5555702 -0.8314697 -1 0.5555702 -0.8314697 1 0.3826833 -0.9238796 -1 0.3826833 -0.9238796 1 0.1950901 -0.9807853 -1 0.1950901 -0.9807853 1 -3.25841e-7 -1 -1 -3.25841e-7 -1 1 -0.1950907 -0.9807852 -1 -0.1950907 -0.9807852 1 -0.3826839 -0.9238793 -1 -0.3826839 -0.9238793 1 -0.5555707 -0.8314693 -1 -0.5555707 -0.8314693 1 -0.7071073 -0.7071064 -1 -0.7071073 -0.7071064 1 -0.83147 -0.5555697 -1 -0.83147 -0.5555697 1 -0.9238799 -0.3826827 -1 -0.9238799 -0.3826827 1 -0.9807854 -0.1950894 -1 -0.9807854 -0.1950894 1 -1 9.65599e-7 -1 -1 9.65599e-7 1 -0.9807851 0.1950913 -1 -0.9807851 0.1950913 1 -0.9238791 0.3826845 -1 -0.9238791 0.3826845 1 -0.8314689 0.5555713 -1 -0.8314689 0.5555713 1 -0.7071059 0.7071077 -1 -0.7071059 0.7071077 1 -0.5555691 0.8314704 -1 -0.5555691 0.8314704 1 -0.3826821 0.9238801 -1 -0.3826821 0.9238801 1 -0.1950888 0.9807856 -1 -0.1950888 0.9807856 1 + + + + + + + + + + 0.09801727 0.9951847 0 0.2902847 0.9569404 0 0.4713967 0.8819213 0 0.6343932 0.7730106 0 0.7730103 0.6343936 0 0.8819215 0.4713966 0 0.9569404 0.2902848 0 0.9951847 0.09801727 0 0.9951847 -0.09801727 0 0.9569404 -0.2902848 0 0.8819216 -0.4713962 0 0.7730106 -0.6343932 0 0.6343934 -0.7730104 0 0.4713968 -0.8819214 0 0.2902843 -0.9569405 0 0.09801691 -0.9951848 0 -0.09801757 -0.9951848 0 -0.2902852 -0.9569402 0 -0.4713971 -0.8819211 0 -0.6343936 -0.7730103 0 -0.7730111 -0.6343926 0 -0.8819217 -0.4713961 0 -0.9569405 -0.2902839 0 -0.9951848 -0.09801661 0 -0.9951846 0.09801846 0 -0.95694 0.2902858 0 -0.881921 0.4713975 0 -0.7730096 0.6343944 0 -0.6343923 0.7730113 0 -0.4713955 0.881922 0 0 0 1 -0.0980165 0.9951848 0 -0.2902831 0.9569409 0 0 0 -1 0.2902846 0.9569405 0 0.6343935 0.7730103 0 0.7730106 0.6343932 0 0.9951848 -0.09801667 0 0.8819214 -0.4713968 0 0.7730103 -0.6343936 0 0.2902842 -0.9569405 0 -0.2902852 -0.9569402 0 -0.6343939 -0.77301 0 -0.7730109 -0.6343929 0 -0.9569407 -0.2902834 0 -0.9951849 -0.09801602 0 -0.9951847 0.09801787 0 -0.8819208 0.4713979 0 -0.6343926 0.7730111 0 0 0 1 -3.97511e-6 0 1 3.97512e-6 0 1 -1.36853e-6 0 1 1.43703e-6 0 1 -2.87796e-7 0 1 -3.88858e-7 0 1 -0.290283 0.9569408 0 -3.97511e-6 0 -1 3.97512e-6 0 -1 3.88857e-7 0 -1 0 0 -1 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.4057577 0.02529567 0.9740955 0.4080159 0.02600634 0.5980763 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.5943437 0.9807963 0.5000509 0.9901558 0.4057576 0.980796 0.4057576 0.980796 0.3150878 0.9530767 0.5943437 0.9807963 0.2315262 0.9080629 0.1582838 0.8474847 0.09817534 0.7736696 0.09817534 0.7736696 0.05351066 0.6894547 0.02600634 0.5980763 0.02600634 0.5980763 0.01671922 0.5030459 0.02600628 0.4080155 0.02600628 0.4080155 0.0535106 0.316637 0.02600634 0.5980763 0.09817534 0.2324221 0.1582838 0.1586071 0.4057577 0.02529567 0.2315263 0.09802877 0.3150879 0.05301499 0.4057577 0.02529567 0.4057577 0.02529567 0.500051 0.01593595 0.5943444 0.02529573 0.5943444 0.02529573 0.6850143 0.05301511 0.7685756 0.09802895 0.7685756 0.09802895 0.8418182 0.1586074 0.9019268 0.2324224 0.9019268 0.2324224 0.9465913 0.3166373 0.9740955 0.4080159 0.9740955 0.4080159 0.9833825 0.5030463 0.9740954 0.5980768 0.9740954 0.5980768 0.9465907 0.6894552 0.9740955 0.4080159 0.9019262 0.7736701 0.8418175 0.847485 0.7685751 0.9080634 0.7685751 0.9080634 0.6850132 0.953077 0.5943437 0.9807963 0.5943437 0.9807963 0.3150878 0.9530767 0.2315262 0.9080629 0.2315262 0.9080629 0.09817534 0.7736696 0.5943437 0.9807963 0.02600634 0.5980763 0.0535106 0.316637 0.09817534 0.2324221 0.1582838 0.1586071 0.2315263 0.09802877 0.4057577 0.02529567 0.4057577 0.02529567 0.5943444 0.02529573 0.9740955 0.4080159 0.7685756 0.09802895 0.9019268 0.2324224 0.9740955 0.4080159 0.9740955 0.4080159 0.9465907 0.6894552 0.9019262 0.7736701 0.9019262 0.7736701 0.7685751 0.9080634 0.9740955 0.4080159 0.5943437 0.9807963 0.09817534 0.7736696 0.02600634 0.5980763 0.02600634 0.5980763 0.09817534 0.2324221 0.4057577 0.02529567 0.5943444 0.02529573 0.7685756 0.09802895 0.9740955 0.4080159 0.9740955 0.4080159 0.7685751 0.9080634 0.5943437 0.9807963 0.5943437 0.9807963 0.02600634 0.5980763 0.9740955 0.4080159 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

1 0 0 3 0 1 2 0 2 3 1 3 5 1 4 4 1 5 5 2 6 7 2 7 6 2 8 7 3 9 9 3 10 8 3 11 9 4 12 11 4 13 10 4 14 11 5 15 13 5 16 12 5 17 13 6 18 15 6 19 14 6 20 15 7 21 17 7 22 16 7 23 17 8 24 19 8 25 18 8 26 19 9 27 21 9 28 20 9 29 21 10 30 23 10 31 22 10 32 23 11 33 25 11 34 24 11 35 25 12 36 27 12 37 26 12 38 27 13 39 29 13 40 28 13 41 29 14 42 31 14 43 30 14 44 31 15 45 33 15 46 32 15 47 33 16 48 35 16 49 34 16 50 35 17 51 37 17 52 36 17 53 37 18 54 39 18 55 38 18 56 39 19 57 41 19 58 40 19 59 41 20 60 43 20 61 42 20 62 43 21 63 45 21 64 44 21 65 45 22 66 47 22 67 46 22 68 47 23 69 49 23 70 48 23 71 49 24 72 51 24 73 50 24 74 51 25 75 53 25 76 52 25 77 53 26 78 55 26 79 54 26 80 55 27 81 57 27 82 56 27 83 57 28 84 59 28 85 58 28 86 59 29 87 61 29 88 60 29 89 37 30 90 21 30 91 53 30 92 63 31 93 1 31 94 0 31 95 61 32 96 63 32 97 62 32 98 30 33 99 46 33 100 14 33 101 0 0 102 1 0 103 2 0 104 2 34 105 3 34 106 4 34 107 4 2 108 5 2 109 6 2 110 6 35 111 7 35 112 8 35 113 8 36 114 9 36 115 10 36 116 10 5 117 11 5 118 12 5 119 12 6 120 13 6 121 14 6 122 14 7 123 15 7 124 16 7 125 16 37 126 17 37 127 18 37 128 18 9 129 19 9 130 20 9 131 20 38 132 21 38 133 22 38 134 22 39 135 23 39 136 24 39 137 24 12 138 25 12 139 26 12 140 26 13 141 27 13 142 28 13 143 28 40 144 29 40 145 30 40 146 30 15 147 31 15 148 32 15 149 32 16 150 33 16 151 34 16 152 34 41 153 35 41 154 36 41 155 36 18 156 37 18 157 38 18 158 38 42 159 39 42 160 40 42 161 40 43 162 41 43 163 42 43 164 42 21 165 43 21 166 44 21 167 44 44 168 45 44 169 46 44 170 46 45 171 47 45 172 48 45 173 48 46 174 49 46 175 50 46 176 50 25 177 51 25 178 52 25 179 52 47 180 53 47 181 54 47 182 54 27 183 55 27 184 56 27 185 56 48 186 57 48 187 58 48 188 58 29 189 59 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 61 49 198 59 49 199 57 49 200 57 49 201 55 49 202 53 49 203 53 50 204 51 50 205 49 50 206 49 49 207 47 49 208 53 49 209 45 49 210 43 49 211 37 49 212 41 49 213 39 49 214 37 49 215 37 49 216 35 49 217 33 49 218 33 49 219 31 49 220 29 49 221 29 49 222 27 49 223 25 49 224 25 49 225 23 49 226 21 49 227 21 51 228 19 51 229 17 51 230 17 49 231 15 49 232 21 49 233 13 49 234 11 49 235 9 49 236 9 49 237 7 49 238 5 49 239 5 49 240 63 49 241 61 49 242 61 49 243 57 49 244 5 49 245 53 49 246 47 49 247 45 49 248 43 49 249 41 49 250 37 49 251 37 49 252 33 49 253 21 49 254 29 49 255 25 49 256 21 49 257 21 52 258 15 52 259 13 52 260 13 53 261 9 53 262 21 53 263 5 49 264 57 49 265 53 49 266 53 54 267 45 54 268 37 54 269 33 49 270 29 49 271 21 49 272 21 55 273 9 55 274 5 55 275 5 49 276 53 49 277 21 49 278 62 31 279 63 31 280 0 31 281 60 56 282 61 56 283 62 56 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 14 33 302 22 33 303 24 33 304 30 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 57 321 48 57 322 50 57 323 50 58 324 52 58 325 54 58 326 54 33 327 56 33 328 62 33 329 58 33 330 60 33 331 62 33 332 62 33 333 2 33 334 14 33 335 6 33 336 12 33 337 14 33 338 14 33 339 20 33 340 22 33 341 24 33 342 26 33 343 30 33 344 30 33 345 34 33 346 46 33 347 38 33 348 42 33 349 46 33 350 46 59 351 50 59 352 62 59 353 56 33 354 58 33 355 62 33 356 2 33 357 6 33 358 14 33 359 14 33 360 22 33 361 30 33 362 34 33 363 38 33 364 46 33 365 50 33 366 54 33 367 62 33 368 62 60 369 14 60 370 46 60 371

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 0.008208752 0.9551712 -0.1998834 0.2183912 -2.419622 -0.05518906 0.6045247 0.7946723 0.7074429 0 0 0 1 + + + + 0.1495024 -0.0300879 5.17449e-11 0 0 -6.66599e-9 -0.006 0 0.0300879 0.1495024 -2.57113e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/signal.sdf new file mode 100755 index 00000000..ff7f79a1 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/RoundAboutSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://RoundAboutSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/materials/scripts/signal.material new file mode 100755 index 00000000..5261e0d0 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/TurnLeft +{ + technique + { + pass + { + texture_unit + { + texture turn_left.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/materials/textures/turn_left.png b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/materials/textures/turn_left.png new file mode 100755 index 00000000..01d4f478 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/materials/textures/turn_left.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/model.config new file mode 100755 index 00000000..e20d7fea --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/model.config @@ -0,0 +1,10 @@ + + Turn left signal + 1.0 + + signal.sdf + + + Turn left traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/signal.dae new file mode 100755 index 00000000..6fca333b --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-17T15:48:08 + 2016-06-17T15:48:08 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 0 1 -1 0 1 1 0.1950903 0.9807853 -1 0.1950903 0.9807853 1 0.3826835 0.9238795 -1 0.3826835 0.9238795 1 0.5555703 0.8314696 -1 0.5555703 0.8314696 1 0.7071068 0.7071068 -1 0.7071068 0.7071068 1 0.8314697 0.5555702 -1 0.8314697 0.5555702 1 0.9238795 0.3826834 -1 0.9238795 0.3826834 1 0.9807853 0.1950903 -1 0.9807853 0.1950903 1 1 0 -1 1 0 1 0.9807853 -0.1950902 -1 0.9807853 -0.1950902 1 0.9238796 -0.3826833 -1 0.9238796 -0.3826833 1 0.8314697 -0.5555702 -1 0.8314697 -0.5555702 1 0.7071068 -0.7071068 -1 0.7071068 -0.7071068 1 0.5555702 -0.8314697 -1 0.5555702 -0.8314697 1 0.3826833 -0.9238796 -1 0.3826833 -0.9238796 1 0.1950901 -0.9807853 -1 0.1950901 -0.9807853 1 -3.25841e-7 -1 -1 -3.25841e-7 -1 1 -0.1950907 -0.9807852 -1 -0.1950907 -0.9807852 1 -0.3826839 -0.9238793 -1 -0.3826839 -0.9238793 1 -0.5555707 -0.8314693 -1 -0.5555707 -0.8314693 1 -0.7071073 -0.7071064 -1 -0.7071073 -0.7071064 1 -0.83147 -0.5555697 -1 -0.83147 -0.5555697 1 -0.9238799 -0.3826827 -1 -0.9238799 -0.3826827 1 -0.9807854 -0.1950894 -1 -0.9807854 -0.1950894 1 -1 9.65599e-7 -1 -1 9.65599e-7 1 -0.9807851 0.1950913 -1 -0.9807851 0.1950913 1 -0.9238791 0.3826845 -1 -0.9238791 0.3826845 1 -0.8314689 0.5555713 -1 -0.8314689 0.5555713 1 -0.7071059 0.7071077 -1 -0.7071059 0.7071077 1 -0.5555691 0.8314704 -1 -0.5555691 0.8314704 1 -0.3826821 0.9238801 -1 -0.3826821 0.9238801 1 -0.1950888 0.9807856 -1 -0.1950888 0.9807856 1 + + + + + + + + + + 0.09801727 0.9951847 0 0.2902847 0.9569404 0 0.4713967 0.8819213 0 0.6343932 0.7730106 0 0.7730103 0.6343936 0 0.8819215 0.4713966 0 0.9569404 0.2902848 0 0.9951847 0.09801727 0 0.9951847 -0.09801727 0 0.9569404 -0.2902848 0 0.8819216 -0.4713962 0 0.7730106 -0.6343932 0 0.6343934 -0.7730104 0 0.4713968 -0.8819214 0 0.2902843 -0.9569405 0 0.09801691 -0.9951848 0 -0.09801757 -0.9951848 0 -0.2902852 -0.9569402 0 -0.4713971 -0.8819211 0 -0.6343936 -0.7730103 0 -0.7730111 -0.6343926 0 -0.8819217 -0.4713961 0 -0.9569405 -0.2902839 0 -0.9951848 -0.09801661 0 -0.9951846 0.09801846 0 -0.95694 0.2902858 0 -0.881921 0.4713975 0 -0.7730096 0.6343944 0 -0.6343923 0.7730113 0 -0.4713955 0.881922 0 0 0 1 -0.0980165 0.9951848 0 -0.2902831 0.9569409 0 0 0 -1 0.2902846 0.9569405 0 0.6343935 0.7730103 0 0.7730106 0.6343932 0 0.9951848 -0.09801667 0 0.8819214 -0.4713968 0 0.7730103 -0.6343936 0 0.2902842 -0.9569405 0 -0.2902852 -0.9569402 0 -0.6343939 -0.77301 0 -0.7730109 -0.6343929 0 -0.9569407 -0.2902834 0 -0.9951849 -0.09801602 0 -0.9951847 0.09801787 0 -0.8819208 0.4713979 0 -0.6343926 0.7730111 0 0 0 1 -3.97511e-6 0 1 3.97512e-6 0 1 -1.36853e-6 0 1 1.43703e-6 0 1 -2.87796e-7 0 1 -3.88858e-7 0 1 -0.290283 0.9569408 0 -3.97511e-6 0 -1 3.97512e-6 0 -1 3.88857e-7 0 -1 0 0 -1 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.4028558 0.02922272 0.9669886 0.4073503 0.02591419 0.59513 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.5900464 0.9732574 0.4964514 0.9825045 0.4028557 0.9732571 0.4028557 0.9732571 0.3128568 0.9458704 0.5900464 0.9732574 0.2299134 0.9013968 0.157213 0.8415455 0.09754925 0.7686161 0.09754925 0.7686161 0.05321502 0.6854119 0.02591419 0.59513 0.02591419 0.59513 0.01669579 0.50124 0.02591413 0.40735 0.02591413 0.40735 0.05321496 0.317068 0.02591419 0.59513 0.09754925 0.2338637 0.157213 0.1609345 0.4028558 0.02922272 0.2299135 0.1010831 0.3128569 0.05660945 0.4028558 0.02922272 0.4028558 0.02922272 0.4964516 0.01997536 0.5900471 0.02922278 0.5900471 0.02922278 0.6800462 0.05660957 0.7629892 0.1010833 0.7629892 0.1010833 0.8356902 0.1609348 0.8953537 0.233864 0.8953537 0.233864 0.939688 0.3170683 0.9669886 0.4073503 0.9669886 0.4073503 0.976207 0.5012404 0.9669885 0.5951306 0.9669885 0.5951306 0.9396874 0.6854124 0.9669886 0.4073503 0.8953531 0.7686167 0.8356894 0.8415458 0.7629888 0.9013972 0.7629888 0.9013972 0.6800451 0.9458708 0.5900464 0.9732574 0.5900464 0.9732574 0.3128568 0.9458704 0.2299134 0.9013968 0.2299134 0.9013968 0.09754925 0.7686161 0.5900464 0.9732574 0.02591419 0.59513 0.05321496 0.317068 0.09754925 0.2338637 0.157213 0.1609345 0.2299135 0.1010831 0.4028558 0.02922272 0.4028558 0.02922272 0.5900471 0.02922278 0.9669886 0.4073503 0.7629892 0.1010833 0.8953537 0.233864 0.9669886 0.4073503 0.9669886 0.4073503 0.9396874 0.6854124 0.8953531 0.7686167 0.8953531 0.7686167 0.7629888 0.9013972 0.9669886 0.4073503 0.5900464 0.9732574 0.09754925 0.7686161 0.02591419 0.59513 0.02591419 0.59513 0.09754925 0.2338637 0.4028558 0.02922272 0.5900471 0.02922278 0.7629892 0.1010833 0.9669886 0.4073503 0.9669886 0.4073503 0.7629888 0.9013972 0.5900464 0.9732574 0.5900464 0.9732574 0.02591419 0.59513 0.9669886 0.4073503 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

1 0 0 3 0 1 2 0 2 3 1 3 5 1 4 4 1 5 5 2 6 7 2 7 6 2 8 7 3 9 9 3 10 8 3 11 9 4 12 11 4 13 10 4 14 11 5 15 13 5 16 12 5 17 13 6 18 15 6 19 14 6 20 15 7 21 17 7 22 16 7 23 17 8 24 19 8 25 18 8 26 19 9 27 21 9 28 20 9 29 21 10 30 23 10 31 22 10 32 23 11 33 25 11 34 24 11 35 25 12 36 27 12 37 26 12 38 27 13 39 29 13 40 28 13 41 29 14 42 31 14 43 30 14 44 31 15 45 33 15 46 32 15 47 33 16 48 35 16 49 34 16 50 35 17 51 37 17 52 36 17 53 37 18 54 39 18 55 38 18 56 39 19 57 41 19 58 40 19 59 41 20 60 43 20 61 42 20 62 43 21 63 45 21 64 44 21 65 45 22 66 47 22 67 46 22 68 47 23 69 49 23 70 48 23 71 49 24 72 51 24 73 50 24 74 51 25 75 53 25 76 52 25 77 53 26 78 55 26 79 54 26 80 55 27 81 57 27 82 56 27 83 57 28 84 59 28 85 58 28 86 59 29 87 61 29 88 60 29 89 37 30 90 21 30 91 53 30 92 63 31 93 1 31 94 0 31 95 61 32 96 63 32 97 62 32 98 30 33 99 46 33 100 14 33 101 0 0 102 1 0 103 2 0 104 2 34 105 3 34 106 4 34 107 4 2 108 5 2 109 6 2 110 6 35 111 7 35 112 8 35 113 8 36 114 9 36 115 10 36 116 10 5 117 11 5 118 12 5 119 12 6 120 13 6 121 14 6 122 14 7 123 15 7 124 16 7 125 16 37 126 17 37 127 18 37 128 18 9 129 19 9 130 20 9 131 20 38 132 21 38 133 22 38 134 22 39 135 23 39 136 24 39 137 24 12 138 25 12 139 26 12 140 26 13 141 27 13 142 28 13 143 28 40 144 29 40 145 30 40 146 30 15 147 31 15 148 32 15 149 32 16 150 33 16 151 34 16 152 34 41 153 35 41 154 36 41 155 36 18 156 37 18 157 38 18 158 38 42 159 39 42 160 40 42 161 40 43 162 41 43 163 42 43 164 42 21 165 43 21 166 44 21 167 44 44 168 45 44 169 46 44 170 46 45 171 47 45 172 48 45 173 48 46 174 49 46 175 50 46 176 50 25 177 51 25 178 52 25 179 52 47 180 53 47 181 54 47 182 54 27 183 55 27 184 56 27 185 56 48 186 57 48 187 58 48 188 58 29 189 59 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 61 49 198 59 49 199 57 49 200 57 49 201 55 49 202 53 49 203 53 50 204 51 50 205 49 50 206 49 49 207 47 49 208 53 49 209 45 49 210 43 49 211 37 49 212 41 49 213 39 49 214 37 49 215 37 49 216 35 49 217 33 49 218 33 49 219 31 49 220 29 49 221 29 49 222 27 49 223 25 49 224 25 49 225 23 49 226 21 49 227 21 51 228 19 51 229 17 51 230 17 49 231 15 49 232 21 49 233 13 49 234 11 49 235 9 49 236 9 49 237 7 49 238 5 49 239 5 49 240 63 49 241 61 49 242 61 49 243 57 49 244 5 49 245 53 49 246 47 49 247 45 49 248 43 49 249 41 49 250 37 49 251 37 49 252 33 49 253 21 49 254 29 49 255 25 49 256 21 49 257 21 52 258 15 52 259 13 52 260 13 53 261 9 53 262 21 53 263 5 49 264 57 49 265 53 49 266 53 54 267 45 54 268 37 54 269 33 49 270 29 49 271 21 49 272 21 55 273 9 55 274 5 55 275 5 49 276 53 49 277 21 49 278 62 31 279 63 31 280 0 31 281 60 56 282 61 56 283 62 56 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 14 33 302 22 33 303 24 33 304 30 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 57 321 48 57 322 50 57 323 50 58 324 52 58 325 54 58 326 54 33 327 56 33 328 62 33 329 58 33 330 60 33 331 62 33 332 62 33 333 2 33 334 14 33 335 6 33 336 12 33 337 14 33 338 14 33 339 20 33 340 22 33 341 24 33 342 26 33 343 30 33 344 30 33 345 34 33 346 46 33 347 38 33 348 42 33 349 46 33 350 46 59 351 50 59 352 62 59 353 56 33 354 58 33 355 62 33 356 2 33 357 6 33 358 14 33 359 14 33 360 22 33 361 30 33 362 34 33 363 38 33 364 46 33 365 50 33 366 54 33 367 62 33 368 62 60 369 14 60 370 46 60 371

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 0.008208752 0.9551712 -0.1998834 0.2183912 -2.419622 -0.05518906 0.6045247 0.7946723 0.7074429 0 0 0 1 + + + + 0.1495024 -0.0300879 5.17449e-11 0 0 -6.66599e-9 -0.006 0 0.0300879 0.1495024 -2.57113e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/signal.sdf new file mode 100755 index 00000000..5dda6dcb --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/CircularSignals/TurnLeftSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://TurnLeftSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/materials/scripts/signal.material new file mode 100755 index 00000000..8796a40f --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Crosswalk +{ + technique + { + pass + { + texture_unit + { + texture crosswalk.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/materials/textures/crosswalk.png b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/materials/textures/crosswalk.png new file mode 100755 index 00000000..7b9cdf22 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/materials/textures/crosswalk.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/model.config new file mode 100755 index 00000000..3d342d45 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/model.config @@ -0,0 +1,10 @@ + + Crosswalk signal + 1.0 + + signal.sdf + + + Crosswalk traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/signal.dae new file mode 100755 index 00000000..332a4258 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-16T14:45:17 + 2016-06-16T14:45:17 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 + + + + + + + + + + 0 0 0 0 0 0 0.986456 0.01583707 0.9841986 0.9909502 0.01354402 0.9886878 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.01354402 0.01357465 0.986456 0.01583707 0.01354402 0.9886878 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -0.4028234 0.9551712 -0.1998834 0.2183912 -4.546324 -0.05518906 0.6045247 0.7946723 3.291386 0 0 0 1 + + + + -0.1524999 -1.3332e-8 0 0 0 -6.66598e-9 -0.006 0 1.3332e-8 -0.1524999 2.62268e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/signal.sdf new file mode 100755 index 00000000..a54264ea --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/CrosswalkSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://CrosswalkSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/materials/scripts/signal.material new file mode 100755 index 00000000..af091bf3 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Hospital +{ + technique + { + pass + { + texture_unit + { + texture hospital.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/materials/textures/hospital.png b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/materials/textures/hospital.png new file mode 100755 index 00000000..3af7ea8b Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/materials/textures/hospital.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/model.config new file mode 100755 index 00000000..e2d6d966 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/model.config @@ -0,0 +1,10 @@ + + Hospital signal + 1.0 + + signal.sdf + + + Hospital traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/signal.dae new file mode 100755 index 00000000..decb40a3 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-16T14:48:34 + 2016-06-16T14:48:34 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 + + + + + + + + + + 0 0 0 0 0 0 0.9975319 -2.14258e-4 0.9968568 0.9989759 0.008797168 0.9967135 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.01037943 7.3357e-4 0.9975319 -2.14258e-4 0.008797168 0.9967135 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -0.4028234 0.9551712 -0.1998834 0.2183912 -4.546324 -0.05518906 0.6045247 0.7946723 3.291386 0 0 0 1 + + + + -0.1524999 -1.3332e-8 0 0 0 -6.66598e-9 -0.006 0 1.3332e-8 -0.1524999 2.62268e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/signal.sdf new file mode 100755 index 00000000..29512435 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/HospitalSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://HospitalSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/materials/scripts/signal.material new file mode 100755 index 00000000..c801720d --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Park +{ + technique + { + pass + { + texture_unit + { + texture park.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/materials/textures/park.png b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/materials/textures/park.png new file mode 100755 index 00000000..36ac1ce5 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/materials/textures/park.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/model.config new file mode 100755 index 00000000..4b2eb7c5 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/model.config @@ -0,0 +1,10 @@ + + Park signal + 1.0 + + signal.sdf + + + Park traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/signal.dae new file mode 100755 index 00000000..b95e076f --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-16T14:53:12 + 2016-06-16T14:53:12 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 + + + + + + + + + + 0 0 0 0 0 0 0.9963942 0.01339113 0.9941479 0.9935766 0.01105457 0.9935638 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.009927928 0.0137819 0.9963942 0.01339113 0.01105457 0.9935638 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -0.4028234 0.9551712 -0.1998834 0.2183912 -4.546324 -0.05518906 0.6045247 0.7946723 3.291386 0 0 0 1 + + + + -0.1524999 -1.3332e-8 0 0 0 -6.66598e-9 -0.006 0 1.3332e-8 -0.1524999 2.62268e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/signal.sdf new file mode 100755 index 00000000..998ef68e --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/ParkSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://ParkSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/materials/scripts/signal.material new file mode 100755 index 00000000..11db2b72 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/RMV +{ + technique + { + pass + { + texture_unit + { + texture RMV.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/materials/textures/RMV.png b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/materials/textures/RMV.png new file mode 100755 index 00000000..199fcdec Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/materials/textures/RMV.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/model.config new file mode 100755 index 00000000..8d4b4872 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/model.config @@ -0,0 +1,10 @@ + + Recommended Max Velocity signal + 1.0 + + signal.sdf + + + Recommended Max Velocity traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/signal.dae new file mode 100755 index 00000000..f6bb659e --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-16T14:57:00 + 2016-06-16T14:57:00 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 + + + + + + + + + + 0 0 0 0 0 0 0.9948169 0.008629262 0.9951415 0.9985763 0.01204818 0.9975636 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.01071661 0.008226335 0.9948169 0.008629262 0.01204818 0.9975636 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -0.4028234 0.9551712 -0.1998834 0.2183912 -4.546324 -0.05518906 0.6045247 0.7946723 3.291386 0 0 0 1 + + + + -0.1524999 -1.3332e-8 0 0 0 -6.66598e-9 -0.006 0 1.3332e-8 -0.1524999 2.62268e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/signal.sdf new file mode 100755 index 00000000..fb2ac7ac --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/QuadrangularSignals/RMVSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://RMVSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/materials/scripts/signal.material new file mode 100755 index 00000000..f081fabd --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Cattle +{ + technique + { + pass + { + texture_unit + { + texture cattle.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/materials/textures/cattle.png b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/materials/textures/cattle.png new file mode 100755 index 00000000..be92e2b6 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/materials/textures/cattle.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/model.config new file mode 100755 index 00000000..5b80db14 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/model.config @@ -0,0 +1,10 @@ + + Cattle signal + 1.0 + + signal.sdf + + + Cattle traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/signal.dae new file mode 100755 index 00000000..8ad970e9 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-15T15:03:08 + 2016-06-15T15:03:08 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 0 1 -0.06012916 -0.8660254 -0.5000001 -0.06012916 0.8660255 -0.4999999 -0.06012916 -0.8660254 -0.5000001 0.06012916 0 1 0.06012916 0.8660255 -0.4999999 0.06012916 + + + + + + + + + + 0 0 -1 0 0 1 0.8660254 0.5000001 0 0 -1 0 -0.8660254 0.5 0 0 -1 0 + + + + + + + + + + 0 0 0 0 0 0 0.02415561 0.05473673 0.9810456 0.05730903 0.4995586 0.9841227 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 +

1 0 0 0 0 1 2 0 2 3 1 3 5 1 4 4 1 5 0 2 6 4 2 7 5 2 8 2 3 9 5 3 10 3 3 11 1 4 12 3 4 13 4 4 14 2 2 15 0 2 16 5 2 17 1 5 18 2 5 19 3 5 20 0 4 21 1 4 22 4 4 23

+ + + + + + + + + 0.9569268 -0.1199246 0.2644037 1.027046 0.2901279 0.4289272 -0.8554807 -6.905821 -0.01081678 0.8953432 0.4452454 4.588081 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -1.703193 0.9551712 -0.1998834 0.2183912 -2.460182 -0.05518906 0.6045247 0.7946723 1.644836 0 0 0 1 + + + + 0.1760918 0 0 0 0 -8.88798e-9 -0.1 0.001393505 0 0.2033333 -4.37114e-9 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/signal.sdf new file mode 100755 index 00000000..88fc4aa2 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/CattleSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://CattleSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/scripts/signal.material new file mode 100755 index 00000000..3f03733f --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/Depression +{ + technique + { + pass + { + texture_unit + { + texture depression.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/scripts/signal_rn.material b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/scripts/signal_rn.material new file mode 100755 index 00000000..d70dc8e4 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/scripts/signal_rn.material @@ -0,0 +1,13 @@ +material Signal/RoadNarrow +{ + technique + { + pass + { + texture_unit + { + texture road_narrow.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/textures/depression.png b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/textures/depression.png new file mode 100755 index 00000000..856a10a5 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/materials/textures/depression.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/model.config new file mode 100755 index 00000000..72f07e27 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/model.config @@ -0,0 +1,10 @@ + + Depression signal + 1.0 + + signal.sdf + + + Depression traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/signal.dae new file mode 100755 index 00000000..67deb8c6 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/signal.dae @@ -0,0 +1,209 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-14T18:52:52 + 2016-06-14T18:52:52 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 0 1 -0.06012916 -0.8660254 -0.5000001 -0.06012916 0.8660255 -0.4999999 -0.06012916 -0.8660254 -0.5000001 0.06012916 0 1 0.06012916 0.8660255 -0.4999999 0.06012916 + + + + + + + + + + 0 0 -1 0 0 1 0.8660254 0.5000001 0 0 -1 0 -0.8660254 0.5 0 0 -1 0 + + + + + + + + + + 0 0 0 0 0 0 0.009960055 0.04601073 0.9857774 0.04509264 0.4995586 0.9841227 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 +

1 0 0 0 0 1 2 0 2 3 1 3 5 1 4 4 1 5 0 2 6 4 2 7 5 2 8 2 3 9 5 3 10 3 3 11 1 4 12 3 4 13 4 4 14 2 2 15 0 2 16 5 2 17 1 5 18 2 5 19 3 5 20 0 4 21 1 4 22 4 4 23

+ + + + + + + + + 0.9569268 -0.1199246 0.2644037 1.027046 0.2901279 0.4289272 -0.8554807 -6.905821 -0.01081678 0.8953432 0.4452454 4.588081 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -1.703193 0.9551712 -0.1998834 0.2183912 -2.460182 -0.05518906 0.6045247 0.7946723 1.644836 0 0 0 1 + + + + 0.1760918 0 0 0 0 -8.88798e-9 -0.1 0 0 0.2033333 -4.37114e-9 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/signal.sdf new file mode 100755 index 00000000..b3f196af --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/DepressionSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://DepressionSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/materials/scripts/signal.material new file mode 100755 index 00000000..7a55f760 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/OtherDangers +{ + technique + { + pass + { + texture_unit + { + texture other_dangers.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/materials/textures/other_dangers.png b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/materials/textures/other_dangers.png new file mode 100755 index 00000000..bb88eab8 Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/materials/textures/other_dangers.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/model.config new file mode 100755 index 00000000..aa7c98e8 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/model.config @@ -0,0 +1,10 @@ + + Other Dangers signal + 1.0 + + signal.sdf + + + Other dangers traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/signal.dae new file mode 100755 index 00000000..ceb19a1f --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/signal.dae @@ -0,0 +1,170 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-15T18:57:07 + 2016-06-15T18:57:07 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + 0 1 -0.06012916 -0.8660254 -0.5000001 -0.06012916 0.8660255 -0.4999999 -0.06012916 -0.8660254 -0.5000001 0.06012916 0 1 0.06012916 0.8660255 -0.4999999 0.06012916 + + + + + + + + + + 0 0 -1 0 0 1 0.8660254 0.5000001 0 0 -1 0 -0.8660254 0.5 0 0 -1 0 + + + + + + + + + + 0 0 0 0 0 0 0.01262313 0.08111441 0.9824871 0.07903182 0.4966754 0.9763646 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 +

1 0 0 0 0 1 2 0 2 3 1 3 5 1 4 4 1 5 0 2 6 4 2 7 5 2 8 2 3 9 5 3 10 3 3 11 1 4 12 3 4 13 4 4 14 2 2 15 0 2 16 5 2 17 1 5 18 2 5 19 3 5 20 0 4 21 1 4 22 4 4 23

+ + + + + + + + + 0.9569268 -0.1199246 0.2644037 1.027046 0.2901279 0.4289272 -0.8554807 -6.905821 -0.01081678 0.8953432 0.4452454 4.588081 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -1.703193 0.9551712 -0.1998834 0.2183912 -2.460182 -0.05518906 0.6045247 0.7946723 1.644836 0 0 0 1 + + + + 0.1760918 0 0 0 0 -8.88798e-9 -0.1 0.001393505 0 0.2033333 -4.37114e-9 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/signal.sdf new file mode 100755 index 00000000..96f086e9 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/OtherDangersSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://OtherDangersSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/materials/scripts/signal.material b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/materials/scripts/signal.material new file mode 100755 index 00000000..d70dc8e4 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/materials/scripts/signal.material @@ -0,0 +1,13 @@ +material Signal/RoadNarrow +{ + technique + { + pass + { + texture_unit + { + texture road_narrow.png + } + } + } +} diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/materials/textures/road_narrow.png b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/materials/textures/road_narrow.png new file mode 100755 index 00000000..fb43497e Binary files /dev/null and b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/materials/textures/road_narrow.png differ diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/model.config b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/model.config new file mode 100755 index 00000000..1fa142a4 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/model.config @@ -0,0 +1,10 @@ + + Road Narrow signal + 1.0 + + signal.sdf + + + Road Narrow traffic signal + + diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/signal.dae b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/signal.dae new file mode 100755 index 00000000..dc5f246c --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/signal.dae @@ -0,0 +1,170 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-06-15T19:03:08 + 2016-06-15T19:03:08 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + 0 1 -0.06012916 -0.8660254 -0.5000001 -0.06012916 0.8660255 -0.4999999 -0.06012916 -0.8660254 -0.5000001 0.06012916 0 1 0.06012916 0.8660255 -0.4999999 0.06012916 + + + + + + + + + + 0 0 -1 0 0 1 0.8660254 0.5000001 0 0 -1 0 -0.8660254 0.5 0 0 -1 0 + + + + + + + + + + 0 0 0 0 0 0 0.02019894 0.0857656 0.9855174 0.08678376 0.4981905 0.9298529 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 +

1 0 0 0 0 1 2 0 2 3 1 3 5 1 4 4 1 5 0 2 6 4 2 7 5 2 8 2 3 9 5 3 10 3 3 11 1 4 12 3 4 13 4 4 14 2 2 15 0 2 16 5 2 17 1 5 18 2 5 19 3 5 20 0 4 21 1 4 22 4 4 23

+ + + + + + + + + 0.9569268 -0.1199246 0.2644037 1.027046 0.2901279 0.4289272 -0.8554807 -6.905821 -0.01081678 0.8953432 0.4452454 4.588081 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 -1.703193 0.9551712 -0.1998834 0.2183912 -2.460182 -0.05518906 0.6045247 0.7946723 1.644836 0 0 0 1 + + + + 0.1760918 0 0 0 0 -8.88798e-9 -0.1 0.001393505 0 0.2033333 -4.37114e-9 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/signal.sdf b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/signal.sdf new file mode 100755 index 00000000..fd250161 --- /dev/null +++ b/prometheus_gazebo/description/models/verticalSignals/TriangularSignals/RoadNarrowSignal/signal.sdf @@ -0,0 +1,66 @@ + + + + + 0 0 0 0 0 0 + + + + 0.305 0.2 0.05 + + + + + + + 0.305 0.2 0.05 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + 0 0 0.385 0 0 0 + + + 0.0305 0.0305 0.82 + + + + + + support_structure + pictogram + + 0 0 1 + + 0 + 0 + + + + + 0 -0.0225 0.75 0 0 0 + + + + model://RoadNarrowSignal/signal.dae + + + + + + + + + diff --git a/prometheus_gazebo/scripts/sticher.py b/prometheus_gazebo/scripts/sticher.py new file mode 100755 index 00000000..14d4b6ab --- /dev/null +++ b/prometheus_gazebo/scripts/sticher.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 + +# Imports +import cv2 +import rospy +from sensor_msgs.msg._Image import Image +from cv_bridge.core import CvBridge + +# Global Variables +global bridge +global img_rbg_L +global img_rbg_R + +global newImageR +global newImageL + +# Recieves ImageLeft, Image Right as input and dimesions to resize it , default = (640,480) +# Example: +# left = cv2.imread('Left.png',cv2.IMREAD_COLOR) +# right = cv2.imread('Right.png',cv2.IMREAD_COLOR) +# dim = (640, 480) + +def stitching(left,right,dim=(640,480)): + # Nota. as vezes funciona melhor com o resize + left = cv2.resize(left,dim,interpolation = cv2.INTER_AREA) + right = cv2.resize(right,dim,interpolation = cv2.INTER_AREA) + + images = [] + + images.append(left) + images.append(right) + + # cv2.Stitcher_SCANS // cv2.Stitcher_PANORAMA + stitcher = cv2.Stitcher.create(cv2.Stitcher_SCANS) + ret, pano = stitcher.stitch(images) + + return ret, pano + + +# Callback function to receive image +def message_RGB_ReceivedCallbackL(message): + global img_rbg_L + global bridge + global newImageL + if not newImageL: + img_rbg_L = bridge.imgmsg_to_cv2(message, "bgr8") + newImageL = True + +def message_RGB_ReceivedCallbackR(message): + global img_rbg_R + global bridge + global newImageR + if not newImageR: + img_rbg_R = bridge.imgmsg_to_cv2(message, "bgr8") + newImageR = True + +def main(): + # Global variables + global bridge + global img_rbg_L + global img_rbg_R + global newImageR + global newImageL + + newImageL = False + newImageR = False + + # Init Node + rospy.init_node('stitching_imgs', anonymous=False) + + camera_topic = rospy.get_param('~camera_topic','/ackermann_vehicle/camerapan/rgb/image_raw') + image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/cameral/rgb/image_raw') + image_raw_topic_R = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camerar/rgb/image_raw') + + rate_hz = rospy.get_param('~rate', 10) + image_width = rospy.get_param('~width', 640) + image_height = rospy.get_param('~height', 480) + + # Subscribe topics + rospy.Subscriber(image_raw_topic, Image, message_RGB_ReceivedCallbackL) + rospy.Subscriber(image_raw_topic_R, Image, message_RGB_ReceivedCallbackR) + Pub = rospy.Publisher(camera_topic, Image, queue_size=10) + + # Create an object of the CvBridge class + bridge = CvBridge() + + # set loop rate + rate = rospy.Rate(rate_hz) + + while True: + + if newImageL and newImageR: + + ret, frame = stitching(img_rbg_L,img_rbg_R) + + if ret == cv2.STITCHER_OK: + # resize + frame = cv2.resize(frame, (image_width, image_height), interpolation = cv2.INTER_AREA) + # convert publish + msg_frame = CvBridge().cv2_to_imgmsg(frame, "bgr8") + Pub.publish(msg_frame) + + newImageL = newImageR = False + + rate.sleep() + +if __name__ == '__main__': + main() \ No newline at end of file