StanfordMSL · exoticDFT · Feb 6, 2021 · Feb 6, 2021 · Feb 6, 2021 · Feb 6, 2021
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,2 @@
+MIT License
+===========
diff --git a/circle_screenshot.png b/circle_screenshot.png
diff --git a/image_converter.py b/image_converter.py
diff --git a/launch/car_simulation.launch b/launch/car_simulation.launch
@@ -37,7 +37,7 @@
 
 
 		<!-- Controller node -->
-		<node name="controller" pkg="carla_circle" type="controller.py" output="screen">
+		<node name="controller" pkg="carla_circle" type="ackermann_controller.py" output="screen">
 			<param name="rolename" value="$(arg rolename)" />
 			<param name="time_step" value="$(arg time_step)" />
 			<param name="ctrl_freq" value="100" />

diff --git a/launch/event5_stage_one.launch b/launch/event5_stage_one.launch
diff --git a/launch/event5_stage_two.launch b/launch/event5_stage_two.launch
diff --git a/launch/main_control.launch b/launch/main_control.launch
diff --git a/launch/main_control_one.launch b/launch/main_control_one.launch
diff --git a/launch/main_game.launch b/launch/main_game.launch
diff --git a/launch/main_sim.launch b/launch/main_sim.launch
diff --git a/launch/main_simulation.launch b/launch/main_simulation.launch
diff --git a/launch/mcity_event1.launch b/launch/mcity_event1.launch
@@ -15,7 +15,8 @@
 	<include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">
 		<arg name="host" value="$(arg host)" />
 		<arg name="port" value="$(arg port)" />
-		<arg name="fixed_delta_seconds" value="false" />
+		<arg name="fixed_delta_seconds" value="0.02" />
+		<arg name="synchronous_mode" value="true" />
 	</include>
 
 	<include file="$(find carla_circle)/launch/car_simulation.launch">

diff --git a/launch/msl_ego_vehicle.launch b/launch/msl_ego_vehicle.launch