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ismetatabay committed Dec 5, 2023
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2 changes: 1 addition & 1 deletion docs/how-to-guides/open-source-slam/hdl-graph-slam/index.md
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Expand Up @@ -130,4 +130,4 @@ Kenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System
Kenji Koide, [email protected], [https://staff.aist.go.jp/k.koide](https://staff.aist.go.jp/k.koide)

[[Active Intelligent Systems Laboratory, Toyohashi University of Technology, Japan]](http://www.aisl.cs.tut.ac.jp)
[[Mobile Robotics Research Team, National Institute of Advanced Industrial Science and Technology (AIST), Japan]](https://unit.aist.go.jp/hcmrc/mr-rt/contact.html)
[[Mobile Robotics Research Team, National Institute of Advanced Industrial Science and Technology (AIST), Japan]](https://www.aist.go.jp/aist_e/contact/index.html)
2 changes: 1 addition & 1 deletion docs/integration/creating-maps/creating-vector-map/lanelet2/index.md
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Expand Up @@ -3,7 +3,7 @@
At this page, we will explain how to create a simple lanelet on your point cloud map.
If you didn't have a point cloud map before,
please check
and follow the steps on the [LIO-SAM mapping page](../../open-source-slam/lio-sam)
and follow the steps on the [LIO-SAM mapping page](../../lio-sam)
for how to create a point cloud map for Autoware.

## Creating a Lanelet2
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2 changes: 1 addition & 1 deletion docs/integration/creating-maps/index.md
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@@ -1,6 +1,6 @@
# Creating maps

Autoware requires a pointcloud map and a vector map for the vehicle's operating environment. (Check the [map design documentation page](../../../design/autoware-architecture/map/index.md) for the detailed specification).
Autoware requires a pointcloud map and a vector map for the vehicle's operating environment. (Check the [map design documentation page](../../design/autoware-architecture/map/index.md) for the detailed specification).

This page explains how users can create maps that can be used for Autoware.

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2 changes: 1 addition & 1 deletion docs/integration/creating-maps/lio-sam/index.md
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Expand Up @@ -241,7 +241,7 @@ Here is the video for demonstration of LIO-SAM mapping in our campus environment
The output map format is local UTM,
we will change local UTM map to MGRS format for tutorial_vehicle.
Also, if you want change UTM to MGRS for autoware,
please follow [convert-utm-to-mgrs-map](../../converting-utm-to-mgrs-map) page.
please follow [convert-utm-to-mgrs-map](../converting-utm-to-mgrs-map) page.

## Example Result

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2 changes: 1 addition & 1 deletion ...tegration/creating-vehicle-and-sensor-model/creating-individual-params/index.md
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Expand Up @@ -16,7 +16,7 @@ while using the same launch files with the same sensor model.

## Placing your `individual_parameters` repository inside Autoware

[Previously on this guide](../../creating-your-autoware-repositories/creating-autoware-repositories.md),
[Previously on this guide](../../creating-your-autoware-repositories/index.md),
we forked the `autoware_individual_params` repository
to create a [tutorial_vehicle_individual_params](https://github.com/leo-drive/tutorial_vehicle_individual_params) repository
which will be used as an example for this section of the guide.
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4 changes: 2 additions & 2 deletions docs/integration/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
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Expand Up @@ -9,7 +9,7 @@ This page introduces the following packages for the sensor model:
3. `<YOUR-VEHICLE-NAME>_sensor_kit_launch`

Previously,
we forked our vehicle model at the [creating autoware repositories](../../creating-your-autoware-repositories/creating-autoware-repositories.md) page step.
we forked our vehicle model at the [creating autoware repositories](../../creating-your-autoware-repositories/index.md) page step.
For instance,
we created [tutorial_vehicle_launch](https://github.com/leo-drive/tutorial_vehicle_launch)
as an implementation example for the said step.
Expand Down Expand Up @@ -177,7 +177,7 @@ This file defines the mounting positions and orientations of `sensor_kit_base_li
with `base_link` as the parent frame.
At Autoware, `base_link` is on projection of the rear-axle center onto the ground surface.
For more information,
you can check [vehicle dimension](../../../../design/autoware-interfaces/components/vehicle-dimensions.md) page.
you can check [vehicle dimension](../../../design/autoware-interfaces/components/vehicle-dimensions.md) page.
You can use CAD values for this, but we will fill the values with `0` for now.

```yaml
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8 changes: 4 additions & 4 deletions docs/integration/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md
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Expand Up @@ -8,7 +8,7 @@ This page introduces the following packages for the vehicle model:
2. `<YOUR-VEHICLE-NAME>_vehicle_launch`

Previously,
we forked our vehicle model at the [creating autoware repositories](../../creating-your-autoware-repositories/creating-autoware-repositories.md) page step.
we forked our vehicle model at the [creating autoware repositories](../../creating-your-autoware-repositories/index.md) page step.
For instance,
we created [tutorial_vehicle_launch](https://github.com/leo-drive/tutorial_vehicle_launch)
as an implementation example for the said step.
Expand Down Expand Up @@ -105,7 +105,7 @@ Now, we will modify these files according to our vehicle design.
### mirror.param.yaml

This file describes your vehicle mirror dimension for
[CropBox filter](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter/) of [PointCloudPreprocessor](../../../../design/autoware-architecture/sensing/data-types/point-cloud.md).
[CropBox filter](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter/) of [PointCloudPreprocessor](../../../design/autoware-architecture/sensing/data-types/point-cloud.md).
This is important for cropping mirrors from your lidar's point cloud.

The `mirror.param.yaml` consist of the following parameters:
Expand Down Expand Up @@ -170,7 +170,7 @@ The file consists of these parameters:

This file stores the vehicle dimensions for Autoware modules.
Please update it with your vehicle information.
You can refer to the [vehicle dimensions](../../../../design/autoware-interfaces/components/vehicle-dimensions.md) page for detailed dimension demonstration.
You can refer to the [vehicle dimensions](../../../design/autoware-interfaces/components/vehicle-dimensions.md) page for detailed dimension demonstration.
Here is the `vehicle_info.param.yaml` for [sample_vehicle](https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml):

```yaml
Expand Down Expand Up @@ -235,7 +235,7 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --package

If your vehicle interface is ready,
then you can add your vehicle_interface launch file in `vehicle_interface.launch.xml`.
Please check the [creating vehicle interface](../../creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model.md) page for more info.
Please check the [creating vehicle interface](../../creating-vehicle-interface-package/creating-vehicle-interface.md) page for more info.

### Launch planning simulator with your own vehicle

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22 changes: 11 additions & 11 deletions docs/integration/creating-vehicle-interface-package/creating-vehicle-interface.md
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Expand Up @@ -29,16 +29,16 @@ Here are some factors that might be considered:

- Some necessary topic subscription of control commands topics from Autoware to control your vehicle:

| Topic Name | Topic Type | Description |
| ------------------------------------ | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| /control/command/control_cmd | autoware_auto_control_msgs/msg/AckermannControlCommand | This topic includes main topics for controlling our vehicle like a steering tire angle, speed, acceleration, etc. |
| /control/command/gear_cmd | autoware_auto_vehicle_msgs/msg/GearCommand | This topic includes gear command for autonomous driving, please check message values to make sense of gears values. Please check [the message definition](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearCommand.idl) of this type. |
| /control/current_gate_mode | tier4_control_msgs/msg/GateMode | This topic describes control on the autoware or not. Please check [GateMode](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_control_msgs/msg/GateMode.msg) message type for detailed information. |
| /control/command/emergency_cmd | tier4_vehicle_msgs/msg/VehicleEmergencyStamped | This topic sends emergency when autoware is on emergency state. Please check [VehicleEmergencyStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/VehicleEmergencyStamped.msg) message type for detailed information. |
| /control/command/turn_indicators_cmd | autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand | This topic indicates a turn signal for your own vehicle. Please check [TurnIndicatorsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl) message type for detailed information. |
| /control/command/hazard_lights_cmd | autoware_auto_vehicle_msgs/msg/HazardLightsCommand | This topic sends command for hazard lights. Please check [HazardLightsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsCommand.idl) |
| /control/command/actuation_cmd | tier4_vehicle_msgs/msg/ActuationCommandStamped | This topic is enabled when you use `raw_vehicle_command_converter` for control your vehicle with TYPE B which we mentioned at [Vehicle interface](./vehicle-interface.md) section. In summary, if you are using Type B on your vehicle, this topic appeared and included with gas, brake, steering-wheel actuation commands. Please check [ActuationCommandStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationCommandStamped.msg) message type for detailed information. |
| etc. | etc. | etc. |
| Topic Name | Topic Type | Description |
| ------------------------------------ | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| /control/command/control_cmd | autoware_auto_control_msgs/msg/AckermannControlCommand | This topic includes main topics for controlling our vehicle like a steering tire angle, speed, acceleration, etc. |
| /control/command/gear_cmd | autoware_auto_vehicle_msgs/msg/GearCommand | This topic includes gear command for autonomous driving, please check message values to make sense of gears values. Please check [the message definition](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearCommand.idl) of this type. |
| /control/current_gate_mode | tier4_control_msgs/msg/GateMode | This topic describes control on the autoware or not. Please check [GateMode](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_control_msgs/msg/GateMode.msg) message type for detailed information. |
| /control/command/emergency_cmd | tier4_vehicle_msgs/msg/VehicleEmergencyStamped | This topic sends emergency when autoware is on emergency state. Please check [VehicleEmergencyStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/VehicleEmergencyStamped.msg) message type for detailed information. |
| /control/command/turn_indicators_cmd | autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand | This topic indicates a turn signal for your own vehicle. Please check [TurnIndicatorsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl) message type for detailed information. |
| /control/command/hazard_lights_cmd | autoware_auto_vehicle_msgs/msg/HazardLightsCommand | This topic sends command for hazard lights. Please check [HazardLightsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsCommand.idl) |
| /control/command/actuation_cmd | tier4_vehicle_msgs/msg/ActuationCommandStamped | This topic is enabled when you use `raw_vehicle_command_converter` for control your vehicle with TYPE B which we mentioned at [Vehicle interface](./index.md) section. In summary, if you are using Type B on your vehicle, this topic appeared and included with gas, brake, steering-wheel actuation commands. Please check [ActuationCommandStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationCommandStamped.msg) message type for detailed information. |
| etc. | etc. | etc. |

- Some necessary topic publication of vehicle status topics from vehicle interface to Autoware:

Expand Down Expand Up @@ -161,7 +161,7 @@ After you implement your vehicle interface, or you want to debug it by launching
create a launch file of your vehicle interface,
and include it to `vehicle_interface.launch.xml` which included in `<VEHICLE_ID>_vehicle_launch` package
that we forked and created
at [creating vehicle and sensor description page](../creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md).
at [creating vehicle and sensor description page](../creating-vehicle-and-sensor-model/creating-vehicle-model).

Do not get confused. First, you need to create a launch file for your own vehicle interface module (like `my_vehicle_interface.launch.xml`) **and then include that to `vehicle_interface.launch.xml` which exists in another directory.** Here are the details.

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