autowarefoundation · soblin · May 27, 2022 · May 30, 2022 · May 30, 2022 · Jun 6, 2022
diff --git a/.gitignore b/.gitignore
@@ -10,3 +10,4 @@
 .history/
 *.code-workspace
 *.vsix
+site/
diff --git a/docs/how-to-guides/how-to-integrate-autoware-with-your-vehicle.md b/docs/how-to-guides/how-to-integrate-autoware-with-your-vehicle.md
@@ -123,7 +123,7 @@ This section briefly explains how to run your vehicle with Autoware.
 
 ### Install Autoware
 
-Follow the [installation steps of Autoware](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/).
+Follow the [installation steps of Autoware](https://autowarefoundation.github.io/autoware-documentation/main/installation/).
 
 ### Launch Autoware
 

diff --git a/docs/installation/autoware/docker-installation.md b/docs/installation/autoware/docker-installation.md
@@ -24,7 +24,7 @@
 ### Installing dependencies manually
 
 - [Install Docker Engine](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/docker_engine#manual-installation)
-- [Install Docker Compose](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/docker_compose#manual-installation)
+- [Install Docker Compose](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/docker_engine#manual-installation)
 - [Install NVIDIA Container Toolkit](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/nvidia_docker#manual-installation)
 - [Install rocker](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/rocker#manual-installation)
 

diff --git a/...ials/ad-hoc-simulation/images/planning/lane-following/after-autoware-launch.png b/...ials/ad-hoc-simulation/images/planning/lane-following/after-autoware-launch.png
diff --git a/...-simulation/images/planning/lane-following/after-traffic-light-color-update.png b/...-simulation/images/planning/lane-following/after-traffic-light-color-update.png
diff --git a/.../ad-hoc-simulation/images/planning/lane-following/engage-and-start-planning.png b/.../ad-hoc-simulation/images/planning/lane-following/engage-and-start-planning.png
diff --git a/.../ad-hoc-simulation/images/planning/lane-following/old/after-autoware-launch.png b/.../ad-hoc-simulation/images/planning/lane-following/old/after-autoware-launch.png
diff --git a/...lanning/lane-following/delete-objects.png → ...ing/lane-following/old/delete-objects.png b/...lanning/lane-following/delete-objects.png → ...ing/lane-following/old/delete-objects.png
diff --git a/...es/planning/lane-following/reach-goal.png → ...lanning/lane-following/old/reach-goal.png b/...es/planning/lane-following/reach-goal.png → ...lanning/lane-following/old/reach-goal.png
diff --git a/...anning/lane-following/restart-driving.png → ...ng/lane-following/old/restart-driving.png b/...anning/lane-following/restart-driving.png → ...ng/lane-following/old/restart-driving.png
diff --git a/...g/lane-following/set-dummy-pedestrian.png → ...ne-following/old/set-dummy-pedestrian.png b/...g/lane-following/set-dummy-pedestrian.png → ...ne-following/old/set-dummy-pedestrian.png
diff --git a/...utorials/ad-hoc-simulation/images/planning/lane-following/old/set-goal-pose.png b/...utorials/ad-hoc-simulation/images/planning/lane-following/old/set-goal-pose.png
diff --git a/...rials/ad-hoc-simulation/images/planning/lane-following/old/set-initial-pose.png b/...rials/ad-hoc-simulation/images/planning/lane-following/old/set-initial-pose.png
diff --git a/...planning/lane-following/start-driving.png → ...ning/lane-following/old/start-driving.png b/...planning/lane-following/start-driving.png → ...ning/lane-following/old/start-driving.png
diff --git a/.../ad-hoc-simulation/images/planning/lane-following/open-autoware-state-panel.png b/.../ad-hoc-simulation/images/planning/lane-following/open-autoware-state-panel.png
diff --git a/.../tutorials/ad-hoc-simulation/images/planning/lane-following/place-dummy-car.png b/.../tutorials/ad-hoc-simulation/images/planning/lane-following/place-dummy-car.png
diff --git a/...s/ad-hoc-simulation/images/planning/lane-following/send-traffic-light-color.png b/...s/ad-hoc-simulation/images/planning/lane-following/send-traffic-light-color.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/lane-following/set-goal-pose.png b/docs/tutorials/ad-hoc-simulation/images/planning/lane-following/set-goal-pose.png
diff --git a/...tutorials/ad-hoc-simulation/images/planning/lane-following/set-initial-pose.png b/...tutorials/ad-hoc-simulation/images/planning/lane-following/set-initial-pose.png
diff --git a/...utorials/ad-hoc-simulation/images/planning/lane-following/set-traffic-light.png b/...utorials/ad-hoc-simulation/images/planning/lane-following/set-traffic-light.png
diff --git a/...ad-hoc-simulation/images/planning/lane-following/update-traffic-light-color.png b/...ad-hoc-simulation/images/planning/lane-following/update-traffic-light-color.png
diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md
@@ -17,53 +17,77 @@
 
 ## How to run a planning simulation
 
-1. Launch Autoware.
+### Launch Autoware
 
-   ```sh
-   source ~/autoware/install/setup.bash
-   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
-   ```
+```sh
+source ~/autoware/install/setup.bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
+```
 
-   Note that you cannot use `~` instead of `$HOME` here.
+Note that you cannot use `~` instead of `$HOME` here.
 
-   ![after-autoware-launch](images/planning/lane-following/after-autoware-launch.png)
+![after-autoware-launch](images/planning/lane-following/after-autoware-launch.png)
 
-2. Set an initial pose for the ego vehicle.
+### Open Autoware State Panel
-### Open Autoware State Panel
+### Add Autoware State Panel
-### Open Autoware State Panel
+### Add Autoware State Panel
 
-   - a) Click the `2D Pose estimate` button in the toolbar, or hit the `P` key
-   - b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose.
+This panel is useful when we start planning simulation. Click `Panels -> Add new panel`, select `AutowareStatePanel`, and then press `OK`.
-This panel is useful when we start planning simulation. Click `Panels -> Add new panel`, select `AutowareStatePanel`, and then press `OK`.
+This panel is useful when running planning simulations. To add the panel, click `Panels -> Add new panel`, select `AutowareStatePanel`, and then click `OK`.
-This panel is useful when we start planning simulation. Click `Panels -> Add new panel`, select `AutowareStatePanel`, and then press `OK`.
+This panel is useful when running planning simulations. To add the panel, click `Panels -> Add new panel`, select `AutowareStatePanel`, and then click `OK`.
 
-   ![set-initial-pose](images/planning/lane-following/set-initial-pose.png)
+![after-autoware-launch](images/planning/lane-following/open-autoware-state-panel.png)
 
-3. Set a goal pose for the ego vehicle.
+### Set an initial pose for the ego vehicle
 
-   - a) Click the `2D Nav Goal` button in the toolbar, or hit the `G` key
-   - b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose.
+1. Click the `2D Pose estimate` button in the toolbar, or hit the `P` key.
+2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. The car should be placed in the right direction according to the lane(you can check the arrow on the lane). Now you will see a car on the Rviz.
-2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. The car should be placed in the right direction according to the lane(you can check the arrow on the lane). Now you will see a car on the Rviz.
+2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. An image representing the vehicle should now be displayed.
+
+!!! warning
+
+   Remember to set the initial pose of the car in the same direction as the lane. To confirm the direction of the lane, check the arrowheads displayed on the map.
-2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. The car should be placed in the right direction according to the lane(you can check the arrow on the lane). Now you will see a car on the Rviz.
+2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. An image representing the vehicle should now be displayed.
+
+!!! warning
+
+   Remember to set the initial pose of the car in the same direction as the lane. To confirm the direction of the lane, check the arrowheads displayed on the map.
 
-   ![set-goal-pose](images/planning/lane-following/set-goal-pose.png)
+![set-initial-pose](images/planning/lane-following/set-initial-pose.png)
 
-4. To place a dummy object such as a pedestrian, click the `2D Dummy Pedestrian` button in the toolbar.
+### Set a goal pose for the ego vehicle
 
-   ![set-dummy-pedestrian](images/planning/lane-following/set-dummy-pedestrian.png)
+1. Click the `2D Nav Goal` button in the toolbar, or hit the `G` key
+2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. Keep in mind to set the goal pose aligned with the lane direction. Otherwise the path will not be planned. Now you will see a planned path.
-2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. Keep in mind to set the goal pose aligned with the lane direction. Otherwise the path will not be planned. Now you will see a planned path.
+2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose.  If done correctly, you will see a planned path from initial pose to goal pose.
+
+!!! warning
+
+    Remember to set the goal pose to be aligned with the lane direction, otherwise the path will not be planned! 
-2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. Keep in mind to set the goal pose aligned with the lane direction. Otherwise the path will not be planned. Now you will see a planned path.
+2. In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose.  If done correctly, you will see a planned path from initial pose to goal pose.
+
+!!! warning
+
+    Remember to set the goal pose to be aligned with the lane direction, otherwise the path will not be planned! 
 
-5. Engage the ego vehicle.
+![set-goal-pose](images/planning/lane-following/set-goal-pose.png)
 
-   ```bash
-   source ~/autoware/install/setup.bash
-   ros2 topic pub /autoware/engage autoware_auto_vehicle_msgs/msg/Engage "engage: true" -1
-   ```
+### Place a dummy object
+
+You can skip this step.
+
+To place a dummy car/pedestrian, click the `2D Dummy Car` and/or `2D Dummy Pedestrian` button in the toolbar, and then set its pose by dragging on the map. You can set its velocity in `Tool Properties -> 2D Dummy Car/Pedestrian` panel. In the image the velocity is set to 0.
-### Place a dummy object
-
-You can skip this step.
-
-To place a dummy car/pedestrian, click the `2D Dummy Car` and/or `2D Dummy Pedestrian` button in the toolbar, and then set its pose by dragging on the map. You can set its velocity in `Tool Properties -> 2D Dummy Car/Pedestrian` panel. In the image the velocity is set to 0.
+### Place a dummy object (optional)
+
+To place a dummy car or pedestrian, click either the `2D Dummy Car` or the `2D Dummy Pedestrian` button in the toolbar, and then set its pose by dragging on the map. You can set the object's velocity in `Tool Properties -> 2D Dummy Car/Pedestrian` panel. In the image the velocity is set to 0 and so the dummy object will remain stationary.
-### Place a dummy object
-
-You can skip this step.
-
-To place a dummy car/pedestrian, click the `2D Dummy Car` and/or `2D Dummy Pedestrian` button in the toolbar, and then set its pose by dragging on the map. You can set its velocity in `Tool Properties -> 2D Dummy Car/Pedestrian` panel. In the image the velocity is set to 0.
+### Place a dummy object (optional)
+
+To place a dummy car or pedestrian, click either the `2D Dummy Car` or the `2D Dummy Pedestrian` button in the toolbar, and then set its pose by dragging on the map. You can set the object's velocity in `Tool Properties -> 2D Dummy Car/Pedestrian` panel. In the image the velocity is set to 0 and so the dummy object will remain stationary.
+
+![set-dummy-car](images/planning/lane-following/place-dummy-car.png)
+
+To delete those objects, click the `Delete All Objects` button in the toolbar.
-To delete those objects, click the `Delete All Objects` button in the toolbar.
+To delete any dummy objects placed in the view, click the `Delete All Objects` button in the toolbar.
-To delete those objects, click the `Delete All Objects` button in the toolbar.
+To delete any dummy objects placed in the view, click the `Delete All Objects` button in the toolbar.
+
+### Set traffic light
+
+You can skip this step.
+
+To simulate traffic light recognition, go to `Panels -> Add new panel`, select `TrafficLightPublishPanel`, and then press `OK`. Then in the panel you need to set the `ID` and color of the traffic light.
-### Set traffic light
-
-You can skip this step.
-
-To simulate traffic light recognition, go to `Panels -> Add new panel`, select `TrafficLightPublishPanel`, and then press `OK`. Then in the panel you need to set the `ID` and color of the traffic light.
+### Set traffic light (optional)
+
+To simulate traffic light recognition, first go to `Panels -> Add new panel`, select `TrafficLightPublishPanel`, and then click `OK`. Then in the panel, input the id of the traffic light that you want to test, choose the color for the light and then click the `SET` button.
-### Set traffic light
-
-You can skip this step.
-
-To simulate traffic light recognition, go to `Panels -> Add new panel`, select `TrafficLightPublishPanel`, and then press `OK`. Then in the panel you need to set the `ID` and color of the traffic light.
+### Set traffic light (optional)
+
+To simulate traffic light recognition, first go to `Panels -> Add new panel`, select `TrafficLightPublishPanel`, and then click `OK`. Then in the panel, input the id of the traffic light that you want to test, choose the color for the light and then click the `SET` button.
+
+You can check the `ID` of the traffic light by searching for `traffic` tag in `lanelet2_map.osm`. In the image there is one traffic light whose `ID` is 34836 and its color is `SET` to `RED`.
-You can check the `ID` of the traffic light by searching for `traffic` tag in `lanelet2_map.osm`. In the image there is one traffic light whose `ID` is 34836 and its color is `SET` to `RED`.
+You can find the `ID` of the desired traffic light by searching for the `traffic` tag in the `lanelet2_map.osm` file. The image below shows a traffic light whose `ID` is 34836 and its color is set to `RED`.
-You can check the `ID` of the traffic light by searching for `traffic` tag in `lanelet2_map.osm`. In the image there is one traffic light whose `ID` is 34836 and its color is `SET` to `RED`.
+You can find the `ID` of the desired traffic light by searching for the `traffic` tag in the `lanelet2_map.osm` file. The image below shows a traffic light whose `ID` is 34836 and its color is set to `RED`.
+
+![set-traffic-light](images/planning/lane-following/set-traffic-light.png)
+
+By clicking `PUBLISH` button the traffic light status is sent to the simulator, and the planned path changes accordingly.
-By clicking `PUBLISH` button the traffic light status is sent to the simulator, and the planned path changes accordingly.
+Finally, click the `PUBLISH` button to send the traffic light status to the simulator. Any planned path that goes past the selected traffic light will then change accordingly.
-By clicking `PUBLISH` button the traffic light status is sent to the simulator, and the planned path changes accordingly.
+Finally, click the `PUBLISH` button to send the traffic light status to the simulator. Any planned path that goes past the selected traffic light will then change accordingly.
+
+![send-traffic-light-color](images/planning/lane-following/send-traffic-light-color.png)
+
+### Engage the ego vehicle
 
-   ![start-driving](images/planning/lane-following/start-driving.png)
+Now you can start driving by clicking `Engage` button in `AutowareStatePanel`. Or you can also manually `engage` the vehicle by running this command.
-Now you can start driving by clicking `Engage` button in `AutowareStatePanel`. Or you can also manually `engage` the vehicle by running this command.
+Now you can start the ego vehicle driving by clicking the `Engage` button in `AutowareStatePanel`. Alteratively, you can manually engage the vehicle by running the following command:
-Now you can start driving by clicking `Engage` button in `AutowareStatePanel`. Or you can also manually `engage` the vehicle by running this command.
+Now you can start the ego vehicle driving by clicking the `Engage` button in `AutowareStatePanel`. Alteratively, you can manually engage the vehicle by running the following command:
 
-6. To delete objects, click the `Delete All Objects` button in the toolbar.
+```bash
+source ~/autoware/install/setup.bash
+ros2 topic pub /autoware/engage autoware_auto_vehicle_msgs/msg/Engage "engage: true" -1
+```
 
-   ![delete-objects](images/planning/lane-following/delete-objects.png)
+![start-driving](images/planning/lane-following/engage-and-start-planning.png)
 
-7. After that, the vehicle will restart driving and reach the goal.
+### Reset traffic light
-### Reset traffic light
+### Reset traffic light (optional)
-### Reset traffic light
+### Reset traffic light (optional)
 
-   ![restart-driving](images/planning/lane-following/restart-driving.png)
+You can reset the color of the traffic light and let the vehicle make a turn at the intersection.
-You can reset the color of the traffic light and let the vehicle make a turn at the intersection.
+If you previously set a traffic light to `RED` or `AMBER`, you can reset the color of the traffic light to `GREEN` and let the ego vehicle make a turn at the intersection.
-You can reset the color of the traffic light and let the vehicle make a turn at the intersection.
+If you previously set a traffic light to `RED` or `AMBER`, you can reset the color of the traffic light to `GREEN` and let the ego vehicle make a turn at the intersection.
 
-   ![reach-goal](images/planning/lane-following/reach-goal.png)
+![after-traffic-light-color-update](images/planning/lane-following/after-traffic-light-color-update.png)
 
 ## How to simulate parking maneuvers
-Original file line number
+Diff line change
@@ Expand Up / @@ -10,3 +10,4 @@ @@
     .history/
     *.code-workspace
     *.vsix
+    site/