docs: update sensor calibration documentation (#448)

* init manual calibration

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* fix typo

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* add pages

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* init lidar-lidar calibration

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* start with explaining mapping-based calibrator

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* update generic_calibration with new video

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* finalize mapping-based lidar-lidar calibration process

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* init ground-lidar calibration document

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* finalize ground-plane calibration

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* init interactive calibration document

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* finalize interactive lidar-camera calibration

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* init intrinsic camera calibration

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* finalize intrinsic camera calibration

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* correct some sentences

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* refactor calibration documentation structure

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* refactor calibration page structure

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* some improvements for calibration documentation

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* update document according to the tester

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* some readability improvements

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* fix broken links

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* solve conflicts

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

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

@@ -1,2 +1,8 @@
 nav:
   - index.md
+  - Starting with TIER IV's CalibrationTools: calibration-tools
+  - Extrinsic manual calibration: extrinsic-manual-calibration
+  - Lidar-lidar calibration: lidar-lidar-calibration
+  - Ground plane-lidar calibration: ground-lidar-calibration
+  - Intrinsic camera calibration: intrinsic-camera-calibration
+  - Lidar-camera calibration: lidar-camera-calibration

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md

@@ -0,0 +1,84 @@
+# Starting with TIER IV's CalibrationTools
+
+## Overview
+
+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 at `sensor_kit_description` and `individual_params` packages.
+In this tutorial,
+we will use TIER IV's [CalibrationTools](https://github.com/tier4/CalibrationTools) repository for the calibration.
+
+## Setting of sensor_kit_base_link position with respect to the base_link
+
+In previous section (creating the vehicle and sensor model),
+we mentioned about `sensors_calibration.yaml`.
+This file stores `sensor_kit_base_link` (child frame) position and orientation with respect to the
+`base_link` (parent frame).
+We need to update this relative position
+(all values were initially set equal to zero when file is created)
+with using CAD data of our vehicle.
+
+<figure markdown>
+  ![ackermann_link](images/tutorial_vehicle_sensor_kit_base_link.png){ align=center }
+  <figcaption>
+  Our tutorial_vehicle base_link to sensor_kit_base_link transformation.
+  </figcaption>
+</figure>
+
+So, our `sensors_calibration.yaml` file for our tutorial_vehicle should be like this:
+
+```yaml
+base_link:
+  sensor_kit_base_link:
+    x: 1.600000 # meter
+    y: 0.0
+    z: 1.421595 # 1.151595m + 0.270m
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+```
+
+You need to update this transformation value with respect to the `sensor_kit_base_link` frame.
+You can also use CAD values for GNSS/INS and IMU position in `sensor_kit_calibration.yaml` file.
+(Please don't forget
+to update the sensor_kit_calibration.yaml file in both the sensor_kit_launch and individual_params packages)
+
+## Installing TIER IV's CalibrationTools repositories on autoware
+
+After completing previous steps (creating your own autoware,
+creating a vehicle and sensor model etc.)
+we are ready to calibrate sensors which prepared their pipeline in creating the sensor model section.
+
+Firstly, we will clone CalibrationTools repositories in own autoware.
+
+```bash
+cd <YOUR-OWN-AUTOWARE-DIRECTORY> # for example: cd autoware.tutorial_vehicle
+wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools.repos
+vcs import src < calibration_tools.repos
+rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+```
+
+Then build the all packages
+after the all necessary changes are made on sensor model and vehicle model.
+
+```bash
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+## Usage of CalibrationTools
+
+The CalibrationTools repository has several packages
+for calibrating different sensor pairs such as lidar-lidar,
+camera-lidar, ground-lidar etc. In order to calibrate our sensors,
+we will modify `extrinsic_calibration_package` for our sensor kit.
+
+For tutorial_vehicle,
+completed launch files when created following tutorial sections can be found [here](https://github.com/leo-drive/calibration_tools_tutorial_vehicle/tree/tutorial_vehicle/sensor/extrinsic_calibration_manager/launch/tutorial_vehicle_sensor_kit).
+
+- [Manual Calibration](../extrinsic-manual-calibration)
+- [Lidar-Lidar Calibration](../lidar-lidar-calibration)
+  - [Ground Plane-Lidar Calibration](../ground-lidar-calibration)
+- [Intrinsic Camera Calibration](../intrinsic-camera-calibration)
+- [Lidar-Camera Calibration](../lidar-camera-calibration)