Include udacity master branch updates + update .gitignore

.gitignore

@@ -4,3 +4,6 @@ build
 devel
 
 profile.tmp
+
+.DS_Store
+.idea

README.md

@@ -15,7 +15,7 @@ This is the project repo for the final project of the Udacity Self-Driving Car N
   * [ROS Indigo](http://wiki.ros.org/indigo/Installation/Ubuntu) if you have Ubuntu 14.04.
 * [Dataspeed DBW](https://bitbucket.org/DataspeedInc/dbw_mkz_ros)
   * Use this option to install the SDK on a workstation that already has ROS installed: [One Line SDK Install (binary)](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/src/81e63fcc335d7b64139d7482017d6a97b405e250/ROS_SETUP.md?fileviewer=file-view-default)
-* Download the [Udacity Simulator](https://github.com/udacity/CarND-Capstone/releases/tag/v1.2).
+* Download the [Udacity Simulator](https://github.com/udacity/CarND-Capstone/releases).
 
 ### Docker Installation
 [Install Docker](https://docs.docker.com/engine/installation/)

ros/src/styx/bridge.py

@@ -12,7 +12,7 @@
 from std_msgs.msg import Header
 from cv_bridge import CvBridge, CvBridgeError
 
-from styx_msgs.msg import TrafficLight, TrafficLightArray
+from styx_msgs.msg import TrafficLight, TrafficLightArray, Lane
 import numpy as np
 from PIL import Image as PIL_Image
 from io import BytesIO
@@ -31,6 +31,7 @@
     'steer_cmd': SteeringCmd,
     'brake_cmd': BrakeCmd,
     'throttle_cmd': ThrottleCmd,
+    'path_draw': Lane,
     'image':Image
 }
 
@@ -48,6 +49,7 @@ def __init__(self, conf, server):
             '/vehicle/steering_cmd': self.callback_steering,
             '/vehicle/throttle_cmd': self.callback_throttle,
             '/vehicle/brake_cmd': self.callback_brake,
+	    '/final_waypoints': self.callback_path
         }
 
         self.subscribers = [rospy.Subscriber(e.topic, TYPE[e.type], self.callbacks[e.topic])
@@ -188,3 +190,17 @@ def callback_throttle(self, data):
 
     def callback_brake(self, data):
         self.server('brake', data={'brake': str(data.pedal_cmd)})
+
+    def callback_path(self, data):
+	x_values = []
+	y_values = []
+	z_values = []
+	for waypoint in data.waypoints:
+		x = waypoint.pose.pose.position.x
+		y = waypoint.pose.pose.position.y
+		z = waypoint.pose.pose.position.z+0.5
+		x_values.append(x)
+		y_values.append(y)
+		z_values.append(z)
+
+	self.server('drawline', data={'next_x': x_values, 'next_y': y_values, 'next_z': z_values})

ros/src/styx/conf.py

@@ -5,6 +5,7 @@
         {'topic':'/vehicle/steering_cmd', 'type': 'steer_cmd', 'name': 'steering'},
         {'topic':'/vehicle/throttle_cmd', 'type': 'throttle_cmd', 'name': 'throttle'},
         {'topic':'/vehicle/brake_cmd', 'type': 'brake_cmd', 'name': 'brake'},
+	{'topic':'/final_waypoints', 'type': 'path_draw', 'name': 'path'},
     ],
     'publishers': [
         {'topic': '/current_pose', 'type': 'pose', 'name': 'current_pose'},

ros/src/styx/server.py

@@ -1,8 +1,10 @@
 #!/usr/bin/env python
 
-import socketio
 import eventlet
+eventlet.monkey_patch(socket=True, select=True, time=True)
+
 import eventlet.wsgi
+import socketio
 import time
 from flask import Flask, render_template