diff --git a/jsk_maps/raw_maps/eng2-7f-0.05.pgm b/jsk_maps/raw_maps/eng2-7f-0.05.pgm index 4cb2b900b9..cfe2d52bd6 100644 Binary files a/jsk_maps/raw_maps/eng2-7f-0.05.pgm and b/jsk_maps/raw_maps/eng2-7f-0.05.pgm differ diff --git a/jsk_maps/raw_maps/eng2-7f-0.05.raw.pgm b/jsk_maps/raw_maps/eng2-7f-0.05.raw.pgm new file mode 100644 index 0000000000..7249405e3c Binary files /dev/null and b/jsk_maps/raw_maps/eng2-7f-0.05.raw.pgm differ diff --git a/jsk_maps/raw_maps/eng2-7f-0.05.xcf b/jsk_maps/raw_maps/eng2-7f-0.05.xcf new file mode 100644 index 0000000000..8c35d53ba7 Binary files /dev/null and b/jsk_maps/raw_maps/eng2-7f-0.05.xcf differ diff --git a/jsk_maps/raw_maps/eng2-7f-0.05_keepout.pgm b/jsk_maps/raw_maps/eng2-7f-0.05_keepout.pgm index 197c0171de..13db24404f 100644 Binary files a/jsk_maps/raw_maps/eng2-7f-0.05_keepout.pgm and b/jsk_maps/raw_maps/eng2-7f-0.05_keepout.pgm differ diff --git a/jsk_maps/raw_maps/eng2-7f-0.05_keepout.xcf b/jsk_maps/raw_maps/eng2-7f-0.05_keepout.xcf index 71a6808ec7..94e4a8e94e 100644 Binary files a/jsk_maps/raw_maps/eng2-7f-0.05_keepout.xcf and b/jsk_maps/raw_maps/eng2-7f-0.05_keepout.xcf differ diff --git a/jsk_maps/src/eng2-scene.l b/jsk_maps/src/eng2-scene.l index 52521c4289..b890aa94a0 100644 --- a/jsk_maps/src/eng2-scene.l +++ b/jsk_maps/src/eng2-scene.l @@ -219,9 +219,15 @@ `(:rot ,(rpy-matrix 0 0 0) :pos ,(float-vector -750.0 6829.0 51.6065) :name "/eng2/7f/room73A3-front1") - `(:rot ,(rpy-matrix pi/2 0 0) - :pos ,(float-vector 5500 6196 51.6065) + `(:rot ,(rpy-matrix 0 0 0) + :pos ,(float-vector 5600 6000 51.6065) :name "/eng2/7f/room73B2-fetch-dock-front") + `(:rot ,(rpy-matrix 0 0 0) + :pos ,(float-vector 5600 6650 51.6065) + :name "/eng2/7f/room73B2-fetch-dock2-front") + `(:rot ,(rpy-matrix pi/2 0 0) + :pos ,(float-vector 2753 7698 51.6065) + :name "/eng2/7f/room73B2-fetch-dock-entrance")