docs: update launch autoware documentation (#466)

* init commit Signed-off-by: ismetatabay <[email protected]> * add launch perception page Signed-off-by: ismetatabay <[email protected]> * add launch localization page Signed-off-by: ismetatabay <[email protected]> * add launch sensing packages Signed-off-by: ismetatabay <[email protected]> * add launch sensing page Signed-off-by: ismetatabay <[email protected]> * add launch system page Signed-off-by: ismetatabay <[email protected]> * add launch map page Signed-off-by: ismetatabay <[email protected]> * add launch planning page Signed-off-by: ismetatabay <[email protected]> * add launch control page Signed-off-by: ismetatabay <[email protected]> * fix broken links Signed-off-by: ismetatabay <[email protected]> --------- Signed-off-by: ismetatabay <[email protected]>
autowarefoundation · Dec 1, 2023 · 5fe0b08 · 5fe0b08
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diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
@@ -1,4 +1,10 @@
 nav:
   - index.md
-  - Localization methods: localization-methods
-  - Perception mode: perception.md
+  - Launch vehicle: vehicle
+  - Launch system: system
+  - Launch map: map
+  - Launch sensing: sensing
+  - Launch localization: localization
+  - Launch perception: perception
+  - Launch planning: planning
+  - Launch control: control
diff --git a/...des/integrating-autoware/launch-autoware/control/images/control_launch_flow.svg b/...des/integrating-autoware/launch-autoware/control/images/control_launch_flow.svg
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md
@@ -0,0 +1,80 @@
+# Control Launch Files
+
+## Overview
+
+The Autoware control stacks start
+launching at `autoware_launch.xml` as mentioned on the [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_control_component.launch.xml`
+for initiating control launch files invocation from `autoware_launch.xml`.
+The diagram below illustrates the flow of Autoware control launch files within the autoware_launch and autoware.universe packages.
+
+<figure markdown>
+  ![control-launch-flow](images/control_launch_flow.svg){ align=center }
+  <figcaption>
+    Autoware control launch flow diagram
+  </figcaption>
+</figure>
+
+!!! note
+
+    The Autoware project is a large project.
+    Therefore, as we manage the Autoware project, we utilize specific
+    arguments in the launch files.
+    ROS 2 offers an argument-overriding feature for these launch files.
+    Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information.
+    For instance,
+    if we define an argument at the top-level launch,
+    it will override the value on lower-level launches.
+
+## tier4_control_component.launch.xml
+
+The tier4_control_component.launch.xml launch file is the main control component launch in the autoware_launch package.
+This launch file calls control.launch.xml from the [tier4_control_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_control_launch) package
+within the autoware.universe repository.
+We can modify control launch arguments in tier4_control_component.launch.xml.
+Additionally,
+we can add any other necessary arguments
+that need adjustment since tier4_control_component.launch.xml serves as the top-level launch file for other control launch files.
+Here are some predefined control launch arguments:
+
+- **`lateral_controller_mode:`** This argument determines
+  the lateral controller algorithm.
+  The default value is `mpc`.
+  To change it to pure pursuit,
+  make the following update in your `tier4_control_component.launch.xml` file:
+
+  ```diff
+  - <arg name="lateral_controller_mode" default="mpc"/>
+  + <arg name="lateral_controller_mode" default="pure_pursuit"/>
+  ```
+
+- **`enable_autonomous_emergency_braking:`** This argument enables autonomous emergency
+  braking under specific conditions.
+  Please refer to the [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware.universe/main/control/autonomous_emergency_braking/) page for
+  more information.
+  To enable it, update the value in the `tier4_control_component.launch.xml` file:
+
+  ```diff
+  - <arg name="enable_autonomous_emergency_braking" default="false"/>
+  + <arg name="enable_autonomous_emergency_braking" default="true"/>
+  ```
+
+- **`enable_predicted_path_checker:`** This argument enables the predicted path checker module.
+  Please refer to the [Predicted Path Checker](https://autowarefoundation.github.io/autoware.universe/main/control/predicted_path_checker/) page for
+  more information.
+  To enable it, update the value in the `tier4_control_component.launch.xml` file:
+
+  ```diff
+  - <arg name="enable_predicted_path_checker" default="false"/>
+  + <arg name="enable_predicted_path_checker" default="true"/>
+  ```
+
+!!! note
+
+    You can also use this arguments as command line arguments:
+    ```bash
+    ros2 launch autoware_launch autoware.launch.xml ... enable_predicted_path_checker:=true lateral_controller_mode:=pure_pursuit ...
+    ```
+
+The predefined arguments in tier4_control_component.launch.xml have been explained above.
+However, numerous control arguments are included in the autoware_launch control config parameters.
diff --git a/...o-guides/integrating-autoware/launch-autoware/images/2d_pose_initialization.png b/...o-guides/integrating-autoware/launch-autoware/images/2d_pose_initialization.png
diff --git a/...guides/integrating-autoware/launch-autoware/images/autoware_launch_overview.svg b/...guides/integrating-autoware/launch-autoware/images/autoware_launch_overview.svg
diff --git a/...how-to-guides/integrating-autoware/launch-autoware/images/give_2d_goal_pose.png b/...how-to-guides/integrating-autoware/launch-autoware/images/give_2d_goal_pose.png
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/give_2d_pose.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/give_2d_pose.png
diff --git a/...-to-guides/integrating-autoware/launch-autoware/images/planning_path_output.png b/...-to-guides/integrating-autoware/launch-autoware/images/planning_path_output.png
diff --git a/...ides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png b/...ides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png