autowarefoundation · WJaworskiRobotec · May 23, 2022 · May 19, 2022 · May 19, 2022 · May 19, 2022
diff --git a/docs/tutorials/scenario-simulation/.pages b/docs/tutorials/scenario-simulation/.pages
@@ -1,5 +1,4 @@
 nav:
-  - index.md
-  - planning-simulation.md
+  - planning-simulation
   - rosbag-replay-simulation.md
   - digital-twin-simulation.md
diff --git a/docs/tutorials/scenario-simulation/index.md b/docs/tutorials/scenario-simulation/index.md
diff --git a/docs/tutorials/scenario-simulation/planning-simulation.md b/docs/tutorials/scenario-simulation/planning-simulation.md
diff --git a/docs/tutorials/scenario-simulation/planning-simulation/.pages b/docs/tutorials/scenario-simulation/planning-simulation/.pages
@@ -0,0 +1,4 @@
+nav:
+  - installation.md
+  - scenario-test-simulation.md
+  - random-test-simulation.md
diff --git a/...tutorials/scenario-simulation/planning-simulation/images/random_test_runner.png b/...tutorials/scenario-simulation/planning-simulation/images/random_test_runner.png
diff --git a/...torials/scenario-simulation/planning-simulation/images/scenario_test_runner.png b/...torials/scenario-simulation/planning-simulation/images/scenario_test_runner.png
diff --git a/docs/tutorials/scenario-simulation/planning-simulation/installation.md b/docs/tutorials/scenario-simulation/planning-simulation/installation.md
@@ -0,0 +1,34 @@
+# Installation
+
+This document contains step-by-step instruction on how to build [AWF Autoware Core/Universe](https://github.com/autowarefoundation/autoware) with `scenario_simulator_v2`.
+
+## Prerequisites
+
+1. [Autoware has been built and installed](https://autowarefoundation.github.io/autoware-documentation/main/installation/)
+
+## How to build
+
+1. Navigate to the Autoware workspace:
+
+   ```bash
+   cd autoware
+   ```
+
+2. Import Simulator dependencies:
+
+   ```bash
+   vcs import src < simulator.repos
+   ```
+
+3. Install dependent ROS packages:
+
+   ```bash
+   source /opt/ros/galactic/setup.bash
+   rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+   ```
+
+4. Build the workspace:
+
+   ```bash
+   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+   ```
diff --git a/docs/tutorials/scenario-simulation/planning-simulation/random-test-simulation.md b/docs/tutorials/scenario-simulation/planning-simulation/random-test-simulation.md
@@ -0,0 +1,28 @@
+# Random test simulation
+
+!!! note
+
+    Running the Scenario Simulator requires some additional steps on top of building and installing Autoware, so make sure that [Scenario Simulator installation](installation.md) has been completed first before proceeding.
+
+## Running steps
+
+1. Move to the workspace directory where Autoware and the Scenario Simulator have been built.
+
+2. Source the workspace setup script:
+
+   ```bash
+   source install/setup.bash
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   ros2 launch random_test_runner random_test.launch.py \
+     architecture_type:=awf/universe \
+     sensor_model:=sample_sensor_kit \
+     vehicle_model:=sample_vehicle
+   ```
+
+![random_test_runner](images/random_test_runner.png)
+
+For more information about supported parameters, refer to the ![random_test_runner documentation].(<https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/random_test_runner/Readme.md#node-parameters>)
-For more information about supported parameters, refer to the ![random_test_runner documentation].(<https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/random_test_runner/Readme.md#node-parameters>)
+For more information about supported parameters, refer to the ![random_test_runner documentation].(<https://github.com/tier4/scenario_simulator_v2/blob/master/docs/user_guide/random_test_runner/README.md#node-parameters>)
-For more information about supported parameters, refer to the ![random_test_runner documentation].(<https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/random_test_runner/Readme.md#node-parameters>)
+For more information about supported parameters, refer to the ![random_test_runner documentation].(<https://github.com/tier4/scenario_simulator_v2/blob/master/docs/user_guide/random_test_runner/README.md#node-parameters>)
diff --git a/docs/tutorials/scenario-simulation/planning-simulation/scenario-test-simulation.md b/docs/tutorials/scenario-simulation/planning-simulation/scenario-test-simulation.md
@@ -0,0 +1,28 @@
+# Scenario test simulation
+
+!!! note
+
+    Running the Scenario Simulator requires some additional steps on top of building and installing Autoware, so make sure that [Scenario Simulator installation](installation.md) has been completed first before proceeding.
+
+## Running steps
+
+1. Move to the workspace directory where Autoware and the Scenario Simulator have been built.
+
+2. Source the workspace setup script:
+
+   ```bash
+   source install/setup.bash
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   ros2 launch scenario_test_runner scenario_test_runner.launch.py \
+     architecture_type:=awf/universe \
+     record:=false \
+     scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
+     sensor_model:=sample_sensor_kit \
+     vehicle_model:=sample_vehicle
+   ```
+
+![scenario_test_runner](images/scenario_test_runner.png)