Merge pull request #5 from udacity/ck/AddFilesForRealLifeTesting

add launch files for site testing, adjust acceleration value

data/churchlot_with_cars.csv

@@ -0,0 +1,61 @@
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ros/launch/site.launch

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+    <!--DBW Node -->
+    <include file="$(find twist_controller)/launch/dbw.launch"/>
+
+    <!--Waypoint Loader -->
+    <include file="$(find waypoint_loader)/launch/waypoint_loader_site.launch"/>
+
+    <!--Waypoint Follower Node -->
+    <include file="$(find waypoint_follower)/launch/pure_pursuit.launch"/>
+
+    <!--Waypoint Updater Node -->
+    <include file="$(find waypoint_updater)/launch/waypoint_updater.launch"/>
+
+    <!--Traffic Light Detector Node -->
+    <include file="$(find tl_detector)/launch/tl_detector.launch"/>
+</launch>

ros/src/twist_controller/launch/dbw.launch

@@ -4,7 +4,7 @@
         <param name="vehicle_mass" value="1736.35" />
         <param name="fuel_capacity" value="13.5" />
         <param name="brake_deadband" value=".1" />
-        <param name="decel_limit" value="-5." />
+        <param name="decel_limit" value="-1." />
         <param name="accel_limit" value="1." />
         <param name="wheel_radius" value="0.2413" />
         <param name="wheel_base" value="2.8498" />

ros/src/waypoint_follower/src/pure_pursuit_core.cpp

@@ -317,7 +317,7 @@ geometry_msgs::TwistStamped PurePursuit::outputZero() const
 }
 geometry_msgs::TwistStamped PurePursuit::outputTwist(geometry_msgs::Twist t) const
 {
-  double g_lateral_accel_limit = 0.8;
+  double g_lateral_accel_limit = 5.0;
   double ERROR = 1e-8;
 
   geometry_msgs::TwistStamped twist;

ros/src/waypoint_loader/launch/waypoint_loader_site.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="waypoint_loader" type="waypoint_loader.py" name="waypoint_loader">
+        <param name="path" value="$(find styx)../../../data/churchlot_with_cars.csv" />
+        <param name="velocity" value="10" />
+    </node>
+</launch>