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Created with Raphaël 2.2.08Nov7654.test_u_slidetest_u_slidefix-testvlues Kp Ki Kdmainmainno more upgradeoptical flow and door detection finaloptical flow and door detection finaltest_u_slidefinal version=2.0final version=1.0low_level_translationcutu_slideoptical flow and door detectionadd move up move down ,change joytry uturnslide, beta founction to come back to lanestrangemergetarget_value topic U-turnvanishing point completedtarget_vel topic Uturnset Kpget_Kpget_KpKpKptranslatea little attemptmodify the sub and pubdivide all the class into independent python filesPIDdirectall nodesangular partoptical modifiedadd all the nodesoptical modifiedoptical modifiedadd optical flowCommand addlow_level tempAdd Command.msgadd joystick