Team Members:

• Medhat Omr (Team Leader) (medhat.omr@icloud.com)
• Ibrahim Almohandes (heema111@gmail.com)
• Dmitry Gavrilenko (dmitry.gavrilenko@icloud.com)
• Brian Meier (bjmeier@verizon.net)

• Smoothly follow waypoints in the simulator.

  • As shown in video linked below, the car smoothly follows waypoints in the simulator.

• Respect the target top speed set for the waypoints.

  • As shown in the video linked below, the car respects the 40 km/hr simulator speed limit.

• Stop at traffic lights when needed.

  • As shown in the video linked below, the car stops at trafffic lights when needed.

• Stop and restart PID controllers depending on the state of /vehicle/dbw_enabled.

  • Per lines 27 - 30 of twist_controller.py, the PID controller is reset if not dbw_enabled.

• Publish throttle, steering, and brake commands at 50 hz.

  • Per line 7 of twist_controller.py, the CMD_RATE is set to 50 Hz. This values is used by the dbw node to set the publish rate for the throttle, steering and brake commands.

• Launch correctly using the launch files provided in the capstone repo.

  • Program launches with launch/styx.launch and launch/site.launch for the simulator and car respectively.

Simulator Video