Using lap times instead of laps (#263)

* Made startfinishline symmetrical again

* Using lap times instead of laps

* Minor docs change + updated reference to fs_msgs

docs/ros-bridge.md

@@ -25,7 +25,7 @@ The fsds_ros_bridge.launch launches the following nodes:
 | `/fsds/gss` | Ground speed sensor provide linear velocity of the vehicle (`fsds/FSCar`). Velocity is m/s. | [geometry_msgs/TwistStamped](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) | 100 |
 | `/fsds/testing_only/odom` | Ground truth car position and orientation in ENU frame about the CoG of the car (`fsds/FSCar`). The units are `m` for distance. The orientation are expressed in terms of quaternions. The message is in the `fsds/map` frame. This is a frame that is not (yet) used anywhere else and is just here so you can easely reference it if needed. | [nav_msgs/Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) | 250 |
 | `/fsds/testing_only/track` | Ground truth cone position and color with respect to the starting location of the car in ENU. Currently this only publishes the *initial position* of cones that are part of the track spline. Any cones placed manually in the world are not published here. Additionally, the track is published once and the message is latched (meaning it is always available for a newly created subscriber). | [fs_msgs/Track](https://github.com/FS-Driverless/fs_msgs/blob/master/msg/Track.msg) | Latched |
-|`/fsds/testing_only/extra_info`|This topic contains extra information about the simulator. At the moment these are the doo_counter, that keeps track of the amount of cones that have been hit, and the number of laps|[fs_msgs/ExtraInfo](https://github.com/FS-Driverless/fs_msgs/blob/master/msg/ExtraInfo.msg)|1|
+|`/fsds/testing_only/extra_info`|This topic contains extra information about the simulator. At the moment these are the doo_counter, that keeps track of the amount of cones that have been hit, and the times of the laps|[fs_msgs/ExtraInfo](https://github.com/FS-Driverless/fs_msgs/blob/master/msg/ExtraInfo.msg)|1|
 | `/fsds/camera/CAMERA_NAME` | Camera images. See [./camera.md](camera docs). | [sensor_msgs/Image](https://docs.ros.org/api/sensor_msgs/html/msg/Image.html) | ~18 |
 | `/fsds/lidar/LIDARNAME` | Publishes the lidar points for each lidar sensor. All points are in the `fsds/LIDARNAME` frame. Transformations between the `fsds/LIDARNAME` and `fsds/FSCar` frame are being published regularly. More info on the lidar sensor can be found [here](lidar.md) | [sensor_msgs/PointCloud](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud.html) | ``RotationsPerSecond` param in `settings.json` |
 | `/fsds/signal/go` | GO signal that is sent every second by the ROS bridge.The car is only allowed to drive once this message has been received. If no GO signal is received for more than 4 seconds, the AS can assume that `fsds_ros_bridge` has been shut down. This message also includes the mission type and track. More info about signal topics can be found in the [competition-signals guide](competition-signals.md) | [fs_msgs/GoSignal](https://github.com/FS-Driverless/fs_msgs/blob/master/msg/GoSignal.msg) | 1 |

ros/src/fsds_ros_bridge/src/airsim_ros_wrapper.cpp

@@ -835,7 +835,7 @@ void AirsimROSWrapper::extra_info_cb(const ros::TimerEvent & event){
 
  fs_msgs::ExtraInfo extra_info_msg;
  extra_info_msg.doo_counter = state.doo_counter;
- extra_info_msg.laps = state.laps.size();
+ extra_info_msg.laps = state.laps;
 
  extra_info_pub.publish(extra_info_msg);
 }