docs: update creating vehicle and sensor model pages (#460)

* init commit Signed-off-by: ismetatabay <[email protected]> * add individual_params page Signed-off-by: ismetatabay <[email protected]> * add vehicle model page Signed-off-by: ismetatabay <[email protected]> * add camera launch documentation Signed-off-by: ismetatabay <[email protected]> * update document according to the tester Signed-off-by: ismetatabay <[email protected]> * update document readability Signed-off-by: ismetatabay <[email protected]> * update document readability Signed-off-by: ismetatabay <[email protected]> * solve conflicts Signed-off-by: ismetatabay <[email protected]> --------- Signed-off-by: ismetatabay <[email protected]>
autowarefoundation · Nov 17, 2023 · 9643c40 · 9643c40
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diff --git a/docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md b/docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md
@@ -117,7 +117,10 @@ References:
 
 1. Calibration of sensor
 
-   The conversion relationship between every sensor coordinate system and `base_link` can be obtained through sensor calibration technology. How to calibrating your sensors refer to this link [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md).
+   The conversion relationship between every sensor coordinate system and `base_link` can be obtained through sensor calibration technology.
+   Please consult the following link
+   [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors) for instructions
+   on how to calibrate your sensors.
 
 2. Localization
 

diff --git a/docs/how-to-guides/integrating-autoware/.pages b/docs/how-to-guides/integrating-autoware/.pages
@@ -1,7 +1,7 @@
 nav:
   - overview.md
   - 1. Creating your Autoware repositories: creating-your-autoware-repositories
-  - 2. Creating vehicle and sensor description: creating-vehicle-and-sensor-description
+  - 2. Creating vehicle and sensor model: creating-vehicle-and-sensor-model
   - 3. Creating vehicle interface: creating-vehicle-interface-package
   - 4. Creating maps: creating-maps
   - 5. Launch Autoware: launch-autoware

diff --git a/...ating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md b/...ating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md
diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/.pages b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/.pages
@@ -0,0 +1,6 @@
+nav:
+  - index.md
+  - Creating sensor model: creating-sensor-model
+  - Creating individual params: creating-individual-params
+  - Creating vehicle model: creating-vehicle-model
+  - Calibrating sensors: calibrating-sensors
diff --git a/...-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/.pages b/...-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/.pages
@@ -0,0 +1,2 @@
+nav:
+  - index.md
diff --git a/...sensor-description/calibrating-sensors.md → ...sensor-model/calibrating-sensors/index.md b/...sensor-description/calibrating-sensors.md → ...sensor-model/calibrating-sensors/index.md
diff --git a/.../integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/.pages b/.../integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/.pages
@@ -0,0 +1,2 @@
+nav:
+  - index.md
diff --git a/...-autoware/creating-vehicle-and-sensor-model/creating-individual-params/index.md b/...-autoware/creating-vehicle-and-sensor-model/creating-individual-params/index.md
@@ -0,0 +1,83 @@
+# Creating individual params
+
+## Introduction
+
+The [individual_params](https://github.com/autowarefoundation/autoware_individual_params) package is used
+to define customized sensor calibrations for different vehicles.
+It lets
+you define customized sensor calibrations for different vehicles
+while using the same launch files with the same sensor model.
+
+!!! Warning
+
+    The "individual_params" package contains the calibration
+    results for your sensor kit and overrides the default calibration results found in
+    VEHICLE-ID_sensor_kit_description/config/ directory.
+
+## Placing your `individual_parameters` repository inside Autoware
+
+[Previously on this guide](../../creating-your-autoware-repositories/creating-autoware-repositories.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.
+Your individual_parameters repository should be placed inside your Autoware folder following the same folder structure as the one shown below:
+
+??? note "sample folder structure for [`tutorial_vehicle_individual_params`](https://github.com/leo-drive/tutorial_vehicle_individual_params)"
+
+    ```diff
+      <YOUR-OWN-AUTOWARE-DIR>/
+      └─ src/
+      └─ param/
+      └─ tutorial_vehicle_individual_params/
+      └─ individual_params/
+      └─ config/
+      ├─ default/
+    + └─ tutorial_vehicle/
+    +     └─ tutorial_vehicle_sensor_kit_launch/
+    +         ├─ imu_corrector.param.yaml
+    +         ├─ sensor_kit_calibration.yaml
+    +         └─ sensors_calibration.yaml
+    ```
+
+After that, we need to build our `individual_params` package:
+
+```bash
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to individual_params
+```
+
+Now you are ready to use Autoware with a vehicle_id as an argument.
+For example, if you are several, similar vehicles with different sensor calibration requirements,
+your autoware_individual_params structure should look like this:
+
+```diff
+individual_params/
+└─ config/
+     ├─ default/
+     │   └─ <YOUR_SENSOR_KIT>/                  # example1
+     │        ├─ imu_corrector.param.yaml
+     │        ├─ sensor_kit_calibration.yaml
+     │        └─ sensors_calibration.yaml
++    ├─ VEHICLE_1/
++    │   └─ <YOUR_SENSOR_KIT>/                  # example2
++    │        ├─ imu_corrector.param.yaml
++    │        ├─ sensor_kit_calibration.yaml
++    │        └─ sensors_calibration.yaml
++    └─ VEHICLE_2/
++         └─ <YOUR_SENSOR_KIT>/                  # example3
++              ├─ imu_corrector.param.yaml
++              ├─ sensor_kit_calibration.yaml
++              └─ sensors_calibration.yaml
+```
+
+Then, you can use autoware with vehicle_id arguments like this:
+
+Add a `<vehicle_id>` as an argument and switch parameters using options at startup.
+
+```bash
+# example1 (do not set vehicle_id)
+$ ros2 launch autoware_launch autoware.launch.xml sensor_model:=<YOUR-VEHICLE-NAME>_sensor_kit vehicle_model:=<YOUR-VEHICLE-NAME>_vehicle
+# example2 (set vehicle_id as VEHICLE_1)
+$ ros2 launch autoware_launch autoware.launch.xml sensor_model:=<YOUR-VEHICLE-NAME>_sensor_kit vehicle_model:=<YOUR-VEHICLE-NAME>_vehicle vehicle_id:=VEHICLE_1
+# example3 (set vehicle_id as VEHICLE_2)
+$ ros2 launch autoware_launch autoware.launch.xml sensor_model:=<YOUR-VEHICLE-NAME>_sensor_kit vehicle_model:=<YOUR-VEHICLE-NAME>_vehicle vehicle_id:=VEHICLE_2
+```
diff --git a/...uides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/.pages b/...uides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/.pages
@@ -0,0 +1,2 @@
+nav:
+  - index.md
diff --git a/...-vehicle-and-sensor-model/creating-sensor-model/images/sensing_launch_files.svg b/...-vehicle-and-sensor-model/creating-sensor-model/images/sensing_launch_files.svg
diff --git a/...-vehicle-and-sensor-model/creating-sensor-model/images/sensor_launch_design.svg b/...-vehicle-and-sensor-model/creating-sensor-model/images/sensor_launch_design.svg