# Milestone 2 - Time to go fast! ## Objective The objective of Milestone 2 is for NXP Cup participants to develop their algorithms into the NXP Gazebo simulation environment. Use either the `aim_line_follow_c` *or* `aim_line_follow` ROS nodes to do so. We already went over how to do this in the last milestone, but now it is time for you all to really hit the ground running and put your algorithms to the test! ## Caveats Because the simulated car does not have bare PWM outputs, we know that it may be difficult to reach full continuity with your real car. We are aware of this, and will be brainstorming solutions based off of your feedback. ## Share your code! If you're comfortable sharing your code, feel free to fork the `aim_line_follow_c` *or* `aim_line_follow` git repositories and push your changes. We would love to see how you all implement your algorithms and how you manage using ROS2. ## Submission for next milestone call For Milestone 1 we asked you all to create a 5 minute video outlining your experience and what we could do to make the installation and initial setup better. For Milestone 2, we would like for you all to make a video showing: * [ ] Screen recording of your fastest lap around the track using simulation time * [ ] Difficulty of implementing your algorithms in the ROS nodes * [ ] Was controlling the car with thrust and steer harder than with the real car? These things will help us determine our next steps! --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://nxp.gitbook.io/nxp-cup/gazebo/milestone-2-time-to-go-fast.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.