update docs for ros2 and vehicle input

tier4 · Oct 28, 2024 · a91b7e2 · a91b7e2
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diff --git a/docs/Components/ROS2/ROS2TopicList/index.md → ...nts/ROS2/ROS2TopicAndServiceList/index.md b/docs/Components/ROS2/ROS2TopicList/index.md → ...nts/ROS2/ROS2TopicAndServiceList/index.md
@@ -1,4 +1,4 @@
-# ROS2 topic and service list
+# ROS2 topic & service list
 
 !!! Note "Ros2ForUnity"
     *AWSIM* works with *ROS2* thanks to the use of `Ros2ForUnity` - read the details [here](../ROS2ForUnity/).<br>

diff --git a/docs/Components/Vehicle/VehicleInput/index.md b/docs/Components/Vehicle/VehicleInput/index.md
@@ -16,16 +16,17 @@ Q. How to override input ?
 A. Control steering and pedals with any device.
 
 Q. How to restart autonomous driving ?  
-A. subscribe to ``vehicle/engage`` topic with true.  
+A. The control mode can be changed by `input/control_mode_request` ros2 service communication.  
 
 !!! info
 
-    sample engage command  
-    ```ros2 topic pub /vehicle/engage autoware_vehicle_msgs/msg/Engage '{engage: True}' -1```
+    sample engage command.  
+    ```ros2 service call input/control_mode_request autoware_vehicle_msgs/srv/ControlModeCommand "mode: 1"```
 
-!!! warning
+    The following modes are supported.  
+    AUTONOMOUS = 1  
+    MANUAL = 4
 
-    It will be changed from the `vehicle/engage` topic in the near future.
 
 In the real world, Autoware switches modes by publishing **ControlMode(AUTONOMOUS or MANUAL)** from the vehicle, and AWSIM simulates this as well. Current ControlMode can be checked from the AWSIM UI.
 
@@ -89,6 +90,10 @@ Set the path to G29DevicePath in [config.json](https://github.com/tier4/AWSIM/bl
 1. Start AWSIM and select Logitech G29 from the UI. If "connected" is displayed, the vehicle can be controlled by Logitech g29.  
     ![](g29_connected.png)
 
+!!! warning
+
+    Steering wheel must be set to center before driving.
+
 #### Advanced configuration
 
 ![](g29_param.png)

diff --git a/mkdocs.yml b/mkdocs.yml
@@ -107,7 +107,7 @@ nav:
         - Pedestrian: Components/Traffic/NPCs/Pedestrian/index.md
         - Vehicle: Components/Traffic/NPCs/Vehicle/index.md
     - ROS2:
-      - ROS2 topic list: Components/ROS2/ROS2TopicList/index.md
+      - ROS2 topic & service list: Components/ROS2/ROS2TopicAndServiceList/index.md
       - Add custom ROS2 msg: Components/ROS2/AddACustomROS2Message/index.md
       - ROS2 For Unity: Components/ROS2/ROS2ForUnity/index.md
     - OpenSCENARIO: