> For the complete documentation index, see [llms.txt](https://nxp.gitbook.io/nxp-cup/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nxp.gitbook.io/nxp-cup/gazebo/milestone-4-advanced-reaction.md). # Milestone 4 - Advanced Reaction ## Overview In Milestone 3, we learned how to react to objects in the simulated world. In Milestone 4, we are upping the ante and introducing a more challenging track with an intersection. ![Track setup for Milestone 4](/files/-MjW7MIYsKipwU2DnZSs) ## Requirements A new track has been added to the simulation! It is your job, as participants, to navigate the track as fast as possible. One caveat - you can't go straight through the intersection! The intersection contains an AprilTag that you can detect using the example code from Milestone 3. 1. Complete a lap around the new track 2. Correctly follow the path set by the AprilTag (ID 2) - turn right when you detect it ## Deliverables NXP Gazebo Summer Camp participants will be asked to submit a video recording of their car going around the track successfully as well as reacting to each object and following the requirements set above. Requirements of this video are as follows: 1. Video must be less than (10) minutes. 2. Record your simulated Cup car going around the track successfully with your best time. 3. Share your thoughts about the NXP Gazebo Summer Camp! ## How to update for Milestone 4 You will need to run a `git pull`in the /ros2ws/nxp\_gazebo and \~/ros2ws/src/sim\_gazebo\_bringup folders to update NXP Gazebo with the new track. ## Thank you! All of us at NXP thank you for participating in the NXP Gazebo Summer Camp. You all helped us improve the simulation environment and gave us a look into the future of NXP Cup. We will keep you all updated with new developments with NXP Cup and the Gazebo simulation environment. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## 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, and the optional `goal` query parameter: ``` GET https://nxp.gitbook.io/nxp-cup/gazebo/milestone-4-advanced-reaction.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. 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.