add pages

Signed-off-by: ismetatabay <[email protected]>

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/.pages

@@ -0,0 +1,3 @@
+nav:
+  - calibrating-sensors.md
+  - generic-calibration.md

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md

@@ -5,7 +5,6 @@
 Autoware expects to have multiple sensors attached to the vehicle as input to perception, localization, and planning stack. These sensors must be calibrated correctly, and their positions must be defined using either urdf files (as in [sample_sensor_kit](https://github.com/autowarefoundation/sample_sensor_kit_launch/tree/main/sample_sensor_kit_description)) or as tf launch files.
 In order to do that, we will use Tier IV' [CalibrationTools](https://github.com/tier4/CalibrationTools) repository.
 
-
 ## Installing Tier IV's CalibrationTools repositories on autoware
 
 After completing previous steps (creating your own autoware,
@@ -40,6 +39,4 @@ we will modify `extrinsic_calibration_package` for our sensor kit.
   - [Map-Based Lidar-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_map_based.md)
   - [Mapping-Based Lidar-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_mapping_based.md)
 - [Ground Plane-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md)
-- [Camera Intrinsic Calibration]()
-
-
+- [Camera Intrinsic Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md)

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md

@@ -34,7 +34,6 @@ Topic information: Topic: /sensing/lidar/top/pointcloud_raw | Type: sensor_msgs/
 </p>
 </details>
 
-
 First of all, we will start with creating and modifying `extrinsic_calibration_manager` launch files:
 
 ```bash
@@ -43,6 +42,7 @@ cd extrinsic_calibration_manager/launch
 mkdir <YOUR-OWN-SENSOR-KIT-NAME> # i.e. for our guide, it will ve mkdir tutorial_vehicle_sensor_kit
 touch manual.launch.xml manual_sensor_kit.launch.xml
 ```
+
 The created `manual.launch.xml` and `manual_sensor_kit.launch.xml` are version of sample sensor kit
 [aip_x1](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor/extrinsic_calibration_manager/launch/aip_x1) provided from Tier IV.
 
@@ -51,6 +51,7 @@ please open this file on a text editor which will you prefer (code, gedit etc.).
 Example for out tutorial vehicle should be like these steps:
 
 - Let's start with adding vehicle_id and sensor model names. (Optionally, values are not important. These parameters Overrode from launch argument)
+
 ```diff
 + <?xml version="1.0" encoding="UTF-8"?>
 + <launch>
@@ -60,7 +61,8 @@ Example for out tutorial vehicle should be like these steps:
 ```
 
 - After that, we will launch our sensor_kit for manual sensor calibration,
-so we must add these lines on manual.launch.xml: 
+so we must add these lines on manual.launch.xml:
+
 ```diff
 +   <group>
 +     <push-ros-namespace namespace="sensor_kit"/>
@@ -93,6 +95,7 @@ The final version of the file (manual.launch.xml) for tutorial_vehicle should be
 </launch>
 
 ```
+
 </p>
 </details>
 
@@ -101,6 +104,7 @@ we will be ready to implement manual_sensor_kit.launch.xml for the own sensor mo
 
 - We will start adding sensor_kit and vehicle_id as `manual.launch.xml`.
 Optionally, you can modify sensor_model and vehicle_id over this xml snippet:
+
 ```diff
 + <?xml version="1.0" encoding="UTF-8"?>
 + <launch>
@@ -121,6 +125,7 @@ Optionally, you can modify sensor_model and vehicle_id over this xml snippet:
 
 - Then, we will add all our sensor frames on extrinsic_calibration_manages as child frames.
 For tutorial_vehicle there are four sensors (two lidar, one camera, one gnss/ins), so it will be like this:
+
 ```diff
 +   <!-- extrinsic_calibration_manager -->
 +   <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="extrinsic_calibration_manager" output="screen">
@@ -136,6 +141,7 @@ For tutorial_vehicle there are four sensors (two lidar, one camera, one gnss/ins
 
 - Lastly, we will launch a manual calibrator each frame for our sensors,
 please update namespace (ns) and child_frame argument on `tutorial_vehicle` example:
+
 ```diff
 +  <!-- extrinsic_manual_calibrator -->
 +  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
@@ -225,6 +231,7 @@ The final version of the manual_sensor_kit.launch.xml for tutorial_vehicle shoul
 
 
 ```
+
 </p>
 </details>
 
@@ -235,18 +242,20 @@ we need to build package:
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select extrinsic_calibration_manager
 ```
 
-So, we are ready to launch and use manual calibrator. 
+So, we are ready to launch and use manual calibrator.
 
 ```bash
 ros2 launch extrinsic_calibration_manager calibration.launch.xml  mode:=manual sensor_model:=<OWN-SENSOR-KIT> vehicle_model:=<OWN-VEHICLE-MODEL> vehicle_id:=<VEHICLE-ID>
 ```
 
-For tutorial vehicle: 
+For tutorial vehicle:
+
 ```bash
 ros2 launch extrinsic_calibration_manager calibration.launch.xml  mode:=manual sensor_model:=tutorial_vehicle_sensor_kit vehicle_model:=tutorial_vehicle vehicle_id:=tutorial_vehicle
 ```
 
 Then play ROS 2 bag file:
+
 ```bash
 ros2 bag play <rosbag_path> --clock -l -r 0.2 \
   --remap /tf:=/null/tf /tf_static:=/null/tf_static # if tf is recorded
@@ -267,4 +276,4 @@ we will update calibrations by hand according to the rviz2 results.
 
 Here is the video for demonstrating a manual calibration process on tutorial vehicle:
 
-<iframe width="560" height="315" src="https://www.youtube.com/embed/R_JbRpuGPW4?si=yErFos25sTA2W87A" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
+<iframe width="560" height="315" src="https://www.youtube.com/embed/R_JbRpuGPW4?si=yErFos25sTA2W87A" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>