I did some refactoring towards merging of the "real" detector. I also updated the dummy detector to publish the waypoint of the actual stopping line and not the traffic light. I also made the waypoint updater publish the speeds such that the car stops at the exact waypoint published by the traffic light detector without the "grace distance". I also used the reference speed from the base waypoint twist parameter and made the slowdown aggressiveness configurable through the launch file.
@mauricelos @mithi I tried to preserve all your math in it's entirety, but had to make some adjustments. Can you please test whether is still works for you and whether it makes sense?
I did some refactoring towards merging of the "real" detector. I also updated the dummy detector to publish the waypoint of the actual stopping line and not the traffic light. I also made the waypoint updater publish the speeds such that the car stops at the exact waypoint published by the traffic light detector without the "grace distance". I also used the reference speed from the base waypoint twist parameter and made the slowdown aggressiveness configurable through the launch file.
@mauricelos @mithi I tried to preserve all your math in it's entirety, but had to make some adjustments. Can you please test whether is still works for you and whether it makes sense?