Update the constants to meet Carla's requirements.

[clockworkbits]

The self-driving car (Carla) requires some specific rate of updates like in DBW:

The DBW system on Carla expects messages at this frequency, and will disengage (reverting control back to the driver) if control messages are published at less than 10hz. This is a safety feature on the car intended to return control to the driver if the software system crashes. You are welcome to modify how the dbw_node.py code is structured, but please ensure that control commands are published at 50hz.

Make sure that the project before submission meets the requirements.

Debug constants in waypoint_updater.py:

• ~REFRESH_RATE_HZ = 2 , should be REFRESH_RATE_HZ =10 ?~
• REFRESH_RATE_HZ = 2, should be REFRESH_RATE_HZ = 50 👍
• ~UPDATE_MAX_ITER = 50, should be UPDATE_MAX_ITER = 1~
• ~WAYPOINT_INCREMENT_RATE = 5, should be WAYPOINT_INCREMENT_RATE = 1~
• DEBUG_MODE = False, should be DEBUG_MODE = False 👍
• TL_DETECTOR_ON = False, should be TL_DETECTOR_ON = True 👍

Debug constants in tl_detector.py:

• DETECTOR_ENABLED = False, should be DETECTOR_ENABLED = True 👍
• DEBUG_MODE = False, should be DEBUG_MODE = False 👍
• PARKING_LOT_TEST = False, should be PARKING_LOT_TEST = False 👍

Debug constants in tl_classifier.py:

• SIMULATOR_TRACK = True , should be SIMULATOR_TRACK = False 👍
• IMAGE_CAPTURE = False, should be IMAGE_CAPTURE = False 👍
• ~DEBUG_MODE= False, should be DEBUG_MODE = False~

Debug constants in twist_controller.py :

• ~ENABLE_BRAKES = True , remove and remove the if/else conditions but leave the if code block related~ not there anymore
• ~USE_YAW_CONTOLLER = False remove it and related if/else block in control() function , after we decide which controller will be used~
• USE_YAW_CONTOLLER = False 👍

[jodiealaine]

There is just one discrepancy between the specified constants here and what we have in the #35 (Remove the debug settings for the submission) PR:

Debug constants in waypoint_updater.py:

• Specified in here : REFRESH_RATE_HZ = 2 , should be REFRESH_RATE_HZ =10 ?
• On the PR #35 (now on Master) : REFRESH_RATE_HZ = 50

I believe that the constant value set in the PR is actually the correct value, so we just need to reflect this in this issue. Thus, all is good with the settings for submission 👍

Final constants for submission:

waypoint_updater.py: LOOKAHEAD_WPS = 200
CIRCULAR_WPS = False REFRESH_RATE_HZ = 50 DEBUG_MODE = False TL_DETECTOR_ON = True DECELLERATION = 3

tl_detector.py: DETECTOR_ENABLED = True DEBUG_MODE = False PARKING_LOT_TEST = False

tl_classifier.py: SIMULATOR_TRACK = False IMAGE_CAPTURE = False DEBUG_MODE = False

twist_controller.py: GAS_DENSITY = 2.858 ONE_MPH = 0.44704 USE_YAW_CONTOLLER = False