From 77ad230d0316596c218b1edc9052bb455ba22736 Mon Sep 17 00:00:00 2001
From: Caleb Kirksey <ckirksey3@gmail.com>
Date: Fri, 25 Aug 2017 14:47:27 -0700
Subject: [PATCH] add launch files for site testing, adjust acceleration value

---
 data/churchlot_with_cars.csv                  | 61 +++++++++++++++++++
 ros/launch/site.launch                        | 17 ++++++
 ros/src/twist_controller/launch/dbw.launch    |  2 +-
 .../src/pure_pursuit_core.cpp                 |  2 +-
 .../launch/waypoint_loader_site.launch        |  7 +++
 5 files changed, 87 insertions(+), 2 deletions(-)
 create mode 100644 data/churchlot_with_cars.csv
 create mode 100644 ros/launch/site.launch
 create mode 100644 ros/src/waypoint_loader/launch/waypoint_loader_site.launch

diff --git a/data/churchlot_with_cars.csv b/data/churchlot_with_cars.csv
new file mode 100644
index 0000000000..1d69fe88d1
--- /dev/null
+++ b/data/churchlot_with_cars.csv
@@ -0,0 +1,61 @@
+10.4062,15.581,0.775,-2.7419,12
+9.3323,15.1076,0.7265,-2.7761,12
+8.2133,14.6523,0.6463,-2.7875,12
+7.1124,14.2238,0.5837,-2.7816,12
+6.1445,13.8196,0.5186,-2.7624,12
+5.1563,13.3232,0.4582,-2.7233,12
+4.0306,12.8497,0.4001,-2.6551,12
+2.9963,12.3614,0.3606,-2.5595,12
+2.1433,11.6514,0.324,-2.4223,12
+1.3549,10.8159,0.3129,-2.2498,12
+0.6673,9.8075,0.2927,-2.0473,12
+0.0982,8.8679,0.2952,-1.829,12
+-0.1674,7.7939,0.2971,-1.5273,12
+-0.016,6.7165,0.3308,-1.2993,12
+0.4703,5.6266,0.3591,-1.0645,12
+1.0478,4.6374,0.44,-0.8443,12
+1.7823,3.662,0.5316,-0.643,12
+2.8056,2.9294,0.618,-0.4675,12
+3.752,2.5905,0.639,-0.3436,12
+4.8491,2.3299,0.6923,-0.2324,12
+5.9542,2.1258,0.7686,-0.1403,12
+7.1193,1.9555,0.845,-0.072,12
+8.329,1.8898,0.8918,-0.0299,12
+9.5629,1.8863,0.9811,-0.0096,12
+10.8273,1.9032,1.0635,0.0055,12
+12.0401,1.9231,1.134,0.0154,12
+13.2311,1.9756,1.2247,0.0259,12
+14.454,2.0982,1.2894,0.0491,12
+15.667,2.1955,1.358,0.0874,12
+16.8044,2.3517,1.4531,0.142,12
+17.9644,2.5628,1.5041,0.2087,12
+19.1917,2.8108,1.5556,0.2976,12
+20.2247,3.1073,1.6655,0.4049,12
+21.1457,3.5801,1.7298,0.5225,12
+21.9855,4.1788,1.7631,0.6443,12
+22.7811,4.8316,1.8034,0.7734,12
+23.5077,5.622,1.8373,0.9148,12
+24.1083,6.4314,1.8431,1.0537,12
+24.7628,7.5022,1.8801,1.2454,12
+25.0165,8.5624,1.9044,1.439,12
+24.9825,9.7477,1.8986,1.6241,12
+24.8426,10.9168,1.8811,1.801,12
+24.5885,12.16,1.8511,1.9861,12
+24.1027,13.3017,1.8157,2.1751,12
+23.3313,14.2742,1.7346,2.3716,12
+22.4417,14.9339,1.6529,2.514,12
+21.549,15.5242,1.5707,2.6533,12
+20.4978,16.0282,1.4939,2.788,12
+19.4593,16.3515,1.4019,2.9136,12
+18.3935,16.6445,1.3187,3.0424,12
+17.3152,16.7253,1.2257,3.1397,12
+16.2105,16.6429,1.1768,-3.0689,12
+15.1095,16.4975,1.0757,-3.0101,12
+14.0054,16.3033,1.0277,-2.9785,12
+12.9916,16.1129,0.9634,-2.9596,12
+11.9502,15.8813,0.8892,-2.9351,12
+10.8016,15.601,0.8146,-2.9138,12
+9.7822,15.3713,0.7315,-2.8976,12
+8.8213,15.0926,0.698,-2.8836,12
+7.6275,14.7692,0.6189,-2.8695,12
+6.6734,14.4438,0.5474,-2.8635,12
diff --git a/ros/launch/site.launch b/ros/launch/site.launch
new file mode 100644
index 0000000000..713a1792c5
--- /dev/null
+++ b/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>
diff --git a/ros/src/twist_controller/launch/dbw.launch b/ros/src/twist_controller/launch/dbw.launch
index 3640c06ddc..ec01ca70a6 100755
--- a/ros/src/twist_controller/launch/dbw.launch
+++ b/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" />
diff --git a/ros/src/waypoint_follower/src/pure_pursuit_core.cpp b/ros/src/waypoint_follower/src/pure_pursuit_core.cpp
index 09f844a700..cc4ab0d012 100755
--- a/ros/src/waypoint_follower/src/pure_pursuit_core.cpp
+++ b/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;
diff --git a/ros/src/waypoint_loader/launch/waypoint_loader_site.launch b/ros/src/waypoint_loader/launch/waypoint_loader_site.launch
new file mode 100644
index 0000000000..a94a395fa1
--- /dev/null
+++ b/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>