Split out DBW config for simulator / Carla

team-fusionx / CarND-Capstone

Team FusionX - Capstone Project for Udacity Self-Driving Car Nanodegree

MIT License

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Split out DBW config for simulator / Carla #140

Closed dinoboy197 closed 6 years ago

dinoboy197 commented 6 years ago

For #137

Add dynamic_reconfigure to visualization module, so visualization module does not rely on DBW module to add it. Otherwise, removing dynamic reconfig from the DBW module causes the visualization module to not compile, which is too tightly coupled.
Move DBW throttle and brake PID gains into launch files rather than dynamic reconfiguration
Remove DBW dynamic reconfiguration ability
Adjust DBW Carla throttle P gain to 0.5x of simulator value and brake P gain to 4x of simulator value

edufford commented 6 years ago

Sorry, visualization node also shouldn't need dynamic_reconfigure but I missed commenting some lines when I originally disabled it so it seems to have been relying on DBW's dependency to compile. I pushed a fix for it to this branch.

dinoboy197 commented 6 years ago

Awesome, thanks for the patch!