diff --git a/docs/how-to-guides/open-source-slam/hdl-graph-slam/index.md b/docs/how-to-guides/open-source-slam/hdl-graph-slam/index.md index bf294c93a2f..20d3c4824ee 100644 --- a/docs/how-to-guides/open-source-slam/hdl-graph-slam/index.md +++ b/docs/how-to-guides/open-source-slam/hdl-graph-slam/index.md @@ -130,4 +130,4 @@ Kenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System Kenji Koide, k.koide@aist.go.jp, [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) diff --git a/docs/integration/creating-maps/creating-vector-map/lanelet2/index.md b/docs/integration/creating-maps/creating-vector-map/lanelet2/index.md index 2a5c81cf5fd..25a66c8123f 100644 --- a/docs/integration/creating-maps/creating-vector-map/lanelet2/index.md +++ b/docs/integration/creating-maps/creating-vector-map/lanelet2/index.md @@ -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 diff --git a/docs/integration/creating-maps/index.md b/docs/integration/creating-maps/index.md index 143d35aa93f..bab20d37d69 100644 --- a/docs/integration/creating-maps/index.md +++ b/docs/integration/creating-maps/index.md @@ -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. diff --git a/docs/integration/creating-maps/lio-sam/index.md b/docs/integration/creating-maps/lio-sam/index.md index 40205476987..f284fcbda35 100644 --- a/docs/integration/creating-maps/lio-sam/index.md +++ b/docs/integration/creating-maps/lio-sam/index.md @@ -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 diff --git a/docs/integration/creating-vehicle-and-sensor-model/creating-individual-params/index.md b/docs/integration/creating-vehicle-and-sensor-model/creating-individual-params/index.md index 7c679bddef6..a56744a16f9 100644 --- a/docs/integration/creating-vehicle-and-sensor-model/creating-individual-params/index.md +++ b/docs/integration/creating-vehicle-and-sensor-model/creating-individual-params/index.md @@ -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. diff --git a/docs/integration/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/docs/integration/creating-vehicle-and-sensor-model/creating-sensor-model/index.md index 0bce61def59..cae172db17c 100644 --- a/docs/integration/creating-vehicle-and-sensor-model/creating-sensor-model/index.md +++ b/docs/integration/creating-vehicle-and-sensor-model/creating-sensor-model/index.md @@ -9,7 +9,7 @@ This page introduces the following packages for the sensor model: 3. `_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. @@ -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 diff --git a/docs/integration/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md b/docs/integration/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md index fdb61704846..1180bcfc8cd 100644 --- a/docs/integration/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md +++ b/docs/integration/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md @@ -8,7 +8,7 @@ This page introduces the following packages for the vehicle model: 2. `_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. @@ -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: @@ -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 @@ -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 diff --git a/docs/integration/creating-vehicle-interface-package/creating-vehicle-interface.md b/docs/integration/creating-vehicle-interface-package/creating-vehicle-interface.md index cbdbaf085b7..5fc4e1e9a02 100644 --- a/docs/integration/creating-vehicle-interface-package/creating-vehicle-interface.md +++ b/docs/integration/creating-vehicle-interface-package/creating-vehicle-interface.md @@ -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: @@ -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_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. diff --git a/docs/integration/creating-your-autoware-repositories/index.md b/docs/integration/creating-your-autoware-repositories/index.md index d032d2c62cb..5aa1b9add0f 100644 --- a/docs/integration/creating-your-autoware-repositories/index.md +++ b/docs/integration/creating-your-autoware-repositories/index.md @@ -173,7 +173,7 @@ on how to create and customize each of your vehicle's packages: - [Creating sensor model](../creating-vehicle-and-sensor-model/creating-sensor-model/index.md) - [Creating individual params](../creating-vehicle-and-sensor-model/creating-individual-params/index.md) - [Creating vehicle model](../creating-vehicle-and-sensor-model/creating-vehicle-model/index.md) -- [creating-vehicle-interface-package](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model/) +- [creating-vehicle-interface-package](../creating-vehicle-interface-package) - [customizing-for-differential-drive-model](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/customizing-for-differential-drive-model/) Please remember to add all your custom packages, such as interfaces and descriptions, to your `autoware.repos` to ensure that your packages are properly included and managed within the Autoware repository. diff --git a/docs/integration/index.md b/docs/integration/index.md index f9eb091127c..1502d3ba588 100644 --- a/docs/integration/index.md +++ b/docs/integration/index.md @@ -4,7 +4,7 @@ Prerequisites for the vehicle: -- An onboard computer that satisfies the [Autoware installation prerequisites](../../installation/autoware/source-installation.md#prerequisites) +- An onboard computer that satisfies the [Autoware installation prerequisites](../installation/autoware/source-installation.md#prerequisites) - The following devices attached - Drive-by-wire interface - LiDAR diff --git a/docs/integration/launch-autoware/index.md b/docs/integration/launch-autoware/index.md index 8449462be9a..1662884348d 100644 --- a/docs/integration/launch-autoware/index.md +++ b/docs/integration/launch-autoware/index.md @@ -16,10 +16,10 @@ We will explain how to run and launch autoware with these modules: Please complete these steps for integration Autoware on your vehicle: -- [Create your Autoware meta-repository](../creating-your-autoware-repositories/creating-autoware-repositories.md). +- [Create your Autoware meta-repository](../creating-your-autoware-repositories/index.md). - [Create your vehicle and sensor model](../creating-vehicle-and-sensor-model/index.md). - [Calibrate your sensors](../creating-vehicle-and-sensor-model/calibrating-sensors/index.md). -- [Create your Autoware compatible vehicle interface](../creating-vehicle-interface-package/vehicle-interface.md). +- [Create your Autoware compatible vehicle interface](../creating-vehicle-interface-package/index.md). - [Create your environment map](../creating-maps). After the completion of these steps according to your individual vehicle, diff --git a/docs/integration/tuning-parameters-and-performance/evaluating-controller-performance.md b/docs/integration/tuning-parameters-and-performance/evaluating-controller-performance.md index 50989f798f2..3f83a79bdfc 100644 --- a/docs/integration/tuning-parameters-and-performance/evaluating-controller-performance.md +++ b/docs/integration/tuning-parameters-and-performance/evaluating-controller-performance.md @@ -15,7 +15,7 @@ If you need more detailed information about package, refer to the [control_perfo #### 2. Initialize the vehicle and send goal position to create route -- If you have any problem with launching Autoware, please see the [tutorials](../../../tutorials/index.md) page. +- If you have any problem with launching Autoware, please see the [tutorials](../../tutorials/index.md) page. #### 3. Launch the control_performance_analysis package