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Green Yoda-shaped race track #120

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Green Yoda-shaped race track #120

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56 changes: 56 additions & 0 deletions launch/race-track-z0rvrbYu.launch
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<launch>
<node pkg="tf2_ros" type="static_transform_publisher" name="map_odom" args="0 0 0 0 0 0 map odom" />
<arg name="h" value="header: {frame_id: 'map', seq: 0, stamp: {nsecs: 0, secs: 0}}" />
<arg name="orientation" value="orientation: {w: 1.0, x: 0.0, y: 0.0, z: 0.0}" />
<arg name="scale" value="scale: {x: 0.2, y: 0.2, z: 0.2}" />
<!-- Darker green color for Yoda -->
<arg name="color" value="color: {a: 1.0, b: 0.0, g: 0.4, r: 0.1}"/>
<arg name="position" value="position: {x: 0.0, y: 0.0, z: 0.0}"/>
<arg name="pose" value="pose: {$(arg orientation), $(arg position)}"/>
<arg name="lt" value="lifetime: {nsecs: 0, secs: 0}"/>

<!-- start Yoda-shaped race track coordinates -->

<!-- Left ear -->
<arg name="p1" value="{x: -1.5, y: 6.0, z: 0.0}"/> <!-- start point -->
<arg name="p2" value="{x: -0.5, y: 6.5, z: 0.0}"/>
<arg name="p3" value="{x: 1.0, y: 7.0, z: 0.0}"/>
<arg name="p4" value="{x: 2.0, y: 6.8, z: 0.0}"/>
<arg name="p5" value="{x: 2.5, y: 6.5, z: 0.0}"/>
<arg name="p6" value="{x: 3.0, y: 7.5, z: 0.0}"/>
<arg name="p23" value="{x: 2.5, y: 5.2, z: 0.0}"/>
<arg name="p24" value="{x: 1.5, y: 4.8, z: 0.0}"/>
<arg name="p25" value="{x: 0.0, y: 5.0, z: 0.0}"/>
<arg name="p26" value="{x: -1.5, y: 6.0, z: 0.0}"/> <!-- end point -->

<!-- Head -->
<arg name="p7" value="{x: 4.0, y: 8.0, z: 0.0}"/>
<arg name="p8" value="{x: 5.0, y: 8.0, z: 0.0}"/>
<arg name="p9" value="{x: 6.0, y: 8.0, z: 0.0}"/>
<arg name="p10" value="{x: 7.0, y: 7.5, z: 0.0}"/>
<arg name="p20" value="{x: 5.5, y: 3.5, z: 0.0}"/>
<arg name="p21" value="{x: 4.5, y: 3.5, z: 0.0}"/>
<arg name="p22" value="{x: 3.5, y: 4.5, z: 0.0}"/>

<!-- Right ear -->
<arg name="p11" value="{x: 7.5, y: 6.5, z: 0.0}"/>
<arg name="p12" value="{x: 8.0, y: 6.8, z: 0.0}"/>
<arg name="p13" value="{x: 9.0, y: 7.0, z: 0.0}"/>
<arg name="p14" value="{x: 10.5, y: 6.5, z: 0.0}"/>
<arg name="p15" value="{x: 11.5, y: 6.0, z: 0.0}"/>
<arg name="p16" value="{x: 10.0, y: 5.0, z: 0.0}"/>
<arg name="p17" value="{x: 8.5, y: 4.8, z: 0.0}"/>
<arg name="p18" value="{x: 7.5, y: 5.2, z: 0.0}"/>
<arg name="p19" value="{x: 6.5, y: 4.5, z: 0.0}"/>

<!-- end of Yoda-shaped race track coordenates -->

<!-- list of points that draw the racetrack -->
<arg name="pts" value="points: [$(arg p1),$(arg p2),$(arg p3),$(arg p4),$(arg p5),$(arg p6),$(arg p7),$(arg p8),$(arg p9),$(arg p10),$(arg p11),$(arg p12),$(arg p13),$(arg p14),$(arg p15),$(arg p16),$(arg p17),$(arg p18),$(arg p19),$(arg p20),$(arg p21),$(arg p22),$(arg p23),$(arg p24),$(arg p25),$(arg p26)]"/>

<arg name="marker" value="'{$(arg h), ns: 'MWS', id: 0, type: 4, action: 0, $(arg pose), $(arg scale), $(arg color), $(arg lt), $(arg pts)}'" />
<node name="pub1" pkg="rostopic" type="rostopic" args="pub /shape visualization_msgs/Marker $(arg marker)"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find virtual_racetracks_collection)/config/racetrack.rviz"/>
</launch>