{"action":"created","comment":{"url":"https://api.github.com/repos/anandman/carla-kitt/pulls/comments/183299373","pull_request_review_id":114268296,"id":183299373,"diff_hunk":"@@ -2,13 +2,108 @@\n GAS_DENSITY = 2.858\n ONE_MPH = 0.44704\n \n+from yaw_controller import YawController\n+from pid import PID\n+from lowpass import LowPassFilter\n+import rospy\n+\n \n class Controller(object):\n-    def __init__(self, *args, **kwargs):\n-        # TODO: Implement\n-        pass\n-\n-    def control(self, *args, **kwargs):\n-        # TODO: Change the arg, kwarg list to suit your needs\n-        # Return throttle, brake, steer\n-        return 1., 0., 0.\n+    def __init__(self, vehicle_mass, fuel_capacity, brake_deadband, decel_limit,\n+        accel_limit, wheel_radius, wheel_base, steer_ratio, max_lat_accel, max_steer_angle):\n+\n+        self.yaw_controller = YawController(wheel_base, steer_ratio, 0.1, max_lat_accel, max_steer_angle)","path":"ros/src/twist_controller/twist_controller.py","position":22,"original_position":22,"commit_id":"361be455bb737186c049c1fc9f4085a403ce0f53","original_commit_id":"361be455bb737186c049c1fc9f4085a403ce0f53","user":{"login":"zacwitte","id":270854,"avatar_url":"https://avatars3.githubusercontent.com/u/270854?v=4","gravatar_id":"","url":"https://api.github.com/users/zacwitte","html_url":"https://github.com/zacwitte","followers_url":"https://api.github.com/users/zacwitte/followers","following_url":"https://api.github.com/users/zacwitte/following{/other_user}","gists_url":"https://api.github.com/users/zacwitte/gists{/gist_id}","starred_url":"https://api.github.com/users/zacwitte/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/zacwitte/subscriptions","organizations_url":"https://api.github.com/users/zacwitte/orgs","repos_url":"https://api.github.com/users/zacwitte/repos","events_url":"https://api.github.com/users/zacwitte/events{/privacy}","received_events_url":"https://api.github.com/users/zacwitte/received_events","type":"User","site_admin":false},"body":"What is the `0.1` value?","created_at":"2018-04-23T07:38:00Z","updated_at":"2018-04-23T07:47:54Z","html_url":"https://github.com/anandman/carla-kitt/pull/5#discussion_r183299373","pull_request_url":"https://api.github.com/repos/anandman/carla-kitt/pulls/5","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/anandman/carla-kitt/pulls/comments/183299373"},"html":{"href":"https://github.com/anandman/carla-kitt/pull/5#discussion_r183299373"},"pull_request":{"href":"https://api.github.com/repos/anandman/carla-kitt/pulls/5"}}},"pull_request":{"url":"https://api.github.com/repos/anandman/carla-kitt/pulls/5","id":183299390,"html_url":"https://github.com/anandman/carla-kitt/pull/5","diff_url":"https://github.com/anandman/carla-kitt/pull/5.diff","patch_url":"https://github.com/anandman/carla-kitt/pull/5.patch","issue_url":"https://api.github.com/repos/anandman/carla-kitt/issues/5","number":5,"state":"open","locked":false,"title":"Control waypoint 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