diff --git a/docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md b/docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md index 29c1252bd52..f0381c45584 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md +++ b/docs/contributing/coding-guidelines/ros-nodes/coordinate-system.md @@ -117,7 +117,7 @@ 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. How to calibrating your sensors refer to this link [calibrating your sensors](../../../how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors). 2. Localization diff --git a/docs/how-to-guides/integrating-autoware/.pages b/docs/how-to-guides/integrating-autoware/.pages index 29eb42aa464..7676a3a9df5 100644 --- 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 meta repository: creating-your-autoware-meta-repository - - 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/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md deleted file mode 100644 index ab1b801fe54..00000000000 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md +++ /dev/null @@ -1,204 +0,0 @@ -# Creating vehicle and sensor description - -## Introduction - -This page introduce following topics. - -1. YOUR_VEHICLE_description -2. YOUR_SENSOR_KIT_description -3. individual_parameter -4. YOUR_VEHICLE_launch -5. YOUR_SENSOR_KIT_launch - -## 1. YOUR_VEHICLE_description - -In `YOUR_VEHICLE_description`, the following configurations are set: - -1. vehicle_info.param.yaml (must be changed) -2. mesh file (\*.dae) -3. mirror.param.yaml(must be changed) -4. simulator_model.param.yaml -5. vehicle.xacro - -### 1. vehicle_info.param.yaml - -Defines the vehicle dimensions. For more details on each parameter, please click [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions). - -### 2. mesh file - -A 3D model file used for visualization in rviz. - -### 3. mirror.param.yaml - -Set according to the vehicle dimensions. Used in the [crop-box-filter](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter) of [PointCloudPreprocessor](../../../design/autoware-architecture/sensing/data-types/point-cloud.md). - -### 4. simulator_model.param.yaml - -Configuration file for the [simulator environment](https://autowarefoundation.github.io/autoware.universe/main/simulator/simple_planning_simulator/design/simple_planning_simulator-design/). - -### 5. vehicle.xacro - -The entry point file that defines the entire URDF of the vehicle. It refers to `sensors.xacro`, which specifies the sensor mounting positions. - -## 2. YOUR_SENSOR_KIT_description - -In sensor_kit_description, the following files are configured: - -1. sensors.xacro (must be changed) -2. sensor_kit.xacro (must be changed) - -### 1. sensors.xacro - -Resolves the positions of sensors with `base_link` as the parent frame and defines the positions and orientations based on `sensors_calibration.yaml` in individual_params. - -> In Autoware, `/config/sensors_calibration.yaml` is not used. - -#### About sensor_kit_base_link - -A `sensor_kit` refers to a subset that includes multiple sensors, and `sensor_kit_base_link` is the name of its frame. -The positions and orientations within the kit are defined in `sensor_kit.xacro`. - -### 2. sensor_kit.xacro - -Resolves the positions of sensors with `sensor_kit_base_link` as the parent and defines the positions and orientations based on `sensor_kit_calibration.yaml` in individual_params. - -> In Autoware, `/config/sensor_kit_calibration.yaml` is not used. - -## 3. individual_parameter - -The `individual_parameter` is where parameters referenced by `sensors.xacro` and `sensor_kit.xacro` are stored. As the name imply, it is intended to manage parameters for multiple individual instances. - -### Introduction to Various Parameters - -1. sensors_calibration.yaml (must be changed) -2. sensor_kit_calibration.yaml (must be changed) -3. imu_corrector.param.yaml - -### 1. sensors_calibration.yaml - -A file that defines the mounting positions and orientations of sensors with `base_link` as the parent frame. - -### 2. sensor_kit_calibration.yaml - -A file that defines the mounting positions and orientations of sensors with `sensor_kit_base_link` as the parent frame. - -### 3. imu_corrector.param.yaml - -A file used by `imu_corrector`. - -### 4. Folder Structure - -Below is the default directory structure. - -```diff -individual_params/ -└─ config/ - └─ default/ - └─ sample_sensor_kit/ - ├─ imu_corrector.param.yaml - ├─ sensor_kit_calibration.yaml - └─ sensors_calibration.yaml -``` - -Copy and create a folder based on your `YOUR_SENSOR_KIT` name. - -```diff -individual_params/ -└─ config/ - └─ default/ -- └─ sample_sensor_kit/ -+ └─ / - ├─ imu_corrector.param.yaml - ├─ sensor_kit_calibration.yaml - └─ sensors_calibration.yaml -``` - -#### 4.1 Sample Usage - -Here is an example of managing parameters for multiple instances. -Add a `` directory and switch parameters using options at startup. - -```bash -# example1 (do not set vehicle_id) -$ ros2 launch autoware_launch autoware.launch.xml sensor_model:= vehicle_mode:= -# example2 (set vehicle_id as VEHICLE_1) -$ ros2 launch autoware_launch autoware.launch.xml sensor_model:= vehicle_mode:= vehicle_id:=VEHICLE_1 -# example3 (set vehicle_id as VEHICLE_2) -$ ros2 launch autoware_launch autoware.launch.xml sensor_model:= vehicle_mode:= vehicle_id:=VEHICLE_2 -``` - -##### Sample Directory Structure - -```diff -individual_params/ -└─ config/ - ├─ default/ - │ └─ / # example1 - │ ├─ imu_corrector.param.yaml - │ ├─ sensor_kit_calibration.yaml - │ └─ sensors_calibration.yaml -+ ├─ VEHICLE_1/ -+ │ └─ / # example2 -+ │ ├─ imu_corrector.param.yaml -+ │ ├─ sensor_kit_calibration.yaml -+ │ └─ sensors_calibration.yaml -+ └─ VEHICLE_2/ -+ └─ / # example3 -+ ├─ imu_corrector.param.yaml -+ ├─ sensor_kit_calibration.yaml -+ └─ sensors_calibration.yaml -``` - -## 4.YOUR_VEHICLE_launch - -`YOUR_VEHICLE_launch` is where the launch file for starting the drive system devices is stored. - -1. vehicle_interface.launch.xml (must be changed) - -### 1. vehicle_interface.launch.xml - -`vehicle_interface.launch.xml` is the launch file related to the drive system. Please modify it according to the configuration of your vehicle's drive system. - -If you are operating multiple vehicles, use the `vehicle_id` to switch to the corresponding configuration for each vehicle. - -## 5. YOUR_SENSOR_KIT_launch - -`YOUR_SENSOR_KIT_launch` is where the launch files related to sensor startup are stored. - -1. sensing.launch.xml (must be changed) -2. lidar.launch.xml (must be changed) -3. camera.launch.xml -4. imu.launch.xml (must be changed) -5. gnss.launch.xml -6. pointcloud_preprocessor.launch.py (must be changed) - -### 1. sensing.launch.xml - -`sensing.launch.xml` is the entry point that calls the launch files for all sensors. Modify it according to your sensor configuration. - -### 2. lidar.launch.xml - -`lidar.launch.xml` is the launch file related to starting the LiDAR driver. Modify it according to your LiDAR configuration. - -> In Autoware's initial configuration, it assumes converting the acquired data using `pointcloud_preprocessor.launch.py`. - -#### Example Configuration Items - -- Setting the frame_id defined in `YOUR_SENSOR_KIT_description`. -- Connection information for each device. - -### 3. camera.launch.xml - -`camera.launch.xml` is the launch file related to starting the camera driver. - -### 4. imu.launch.xml - -`imu.launch.xml` is the launch file related to starting the IMU driver. - -### 5. gnss.launch.xml - -`gnss.launch.xml` is the launch file related to starting the GNSS driver. - -### 6. pointcloud_preprocessor.launch.py - -`pointcloud_preprocessor.launch.py` is the launch file to convert the raw sensor data. For more information, please click [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/). 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 new file mode 100644 index 00000000000..b864eba4083 --- /dev/null +++ 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/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/.pages b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/index.md similarity index 100% rename from docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md rename to docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/.pages b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/index.md new file mode 100644 index 00000000000..b766cccad88 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-individual-params/index.md @@ -0,0 +1 @@ +# Creating individual params diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/.pages b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/images/sensor_launch_design.svg b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/images/sensor_launch_design.svg new file mode 100644 index 00000000000..5b9e849b69f --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/images/sensor_launch_design.svg @@ -0,0 +1,4 @@ + + + +
Sensor Launch
Sensor Lau...
Camera Driver
Camera Driver
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Lidar Driver
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GNSS/INS Driver
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IMU Driver
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CropBox Filter
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Distortion Corrector
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Ring Outlier Filter
Imu Corrector
Imu Corrector
common sensor launch
common sensor la...
IMU Messages
IMU Messages
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Rectified Pointcloud
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GNSS/INS Messages
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Camera Sensor
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Lidar Sensor
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IMU Sensor
image_proc
image_procText is not SVG - cannot display \ No newline at end of file diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md new file mode 100644 index 00000000000..5da0b8a8ad2 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md @@ -0,0 +1,392 @@ +# Creating a sensor model for Autoware + +## Introduction + +This page introduces the following packages for sensor the model: + +1. `common_sensor_launch` +2. `_sensor_kit_description` +3. `_sensor_kit_launch` + +So, +we forked our sensor model +at [creating autoware repositories](../../creating-your-autoware-meta-repository/creating-autoware-meta-repository.md) page step. +For example, +we created [tutorial_vehicle_sensor_kit_launch](https://github.com/leo-drive/tutorial_vehicle_sensor_kit_launch) for our documentation vehicle at this step. + +Now, we are ready to modify the following sensor model packages for our vehicle. +Firstly, we need to rename the description and launch packages: + +```diff +_sensor_kit_launch/ + ├─ common_sensor_launch/ +- ├─ sample_sensor_kit_description/ ++ ├─ _sensor_kit_description/ +- └─ sample_sensor_kit_launch/ ++ └─ _sensor_kit_launch/ +``` + +After that, +we will change our package names at `package.xml` file and `CmakeLists.txt` file at +`sample_sensor_kit_description` and `sample_sensor_kit_launch` packages. +So, open `package.xml` file and `CmakeLists.txt` file with any text editor or ide that you prefer. + +First Step: You need to change `` attribute at `package.xml` file. + +```diff + +- sample_sensor_kit_description ++ _sensor_kit_description + 0.1.0 + The individual_params package + ... + ... +``` + +Second Step: You need to change `project()` method at `CmakeList.txt` file. + +```diff + cmake_minimum_required(VERSION 3.5) +- project(sample_sensor_kit_description) ++ project(_sensor_kit_description) + + find_package(ament_cmake_auto REQUIRED) +... +... +``` + +You need to apply these two steps for `_sensor_kit_description`and `_sensor_kit_launch` +ROS 2 packages. +After the completing of changing package names, we need to build these packages: + +```bash +colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select _sensor_kit_description _sensor_kit_launch +``` + +## Sensor description + +The main purpose of this package is to describe the sensor frame IDs, +calibration parameters of all sensors, and their links with urdf files. + +The folder structure of sensor_kit_description package is: + +```diff +_sensor_kit_description/ + ├─ config/ + │ ├─ sensor_kit_calibration.yaml + │ └─ sensors_calibration.yaml + └─ urdf/ + ├─ sensor_kit.xacro + └─ sensors.xacro +``` + +Now, we will modify these files according to our sensor design. + +### sensor_kit_calibration.yaml + +This file defines the mounting positions and orientations of sensors with `sensor_kit_base_link` as the parent frame. +We can assume `sensor_kit_base_link` frame is bottom of your main Lidar sensor. +We must create this file with euler format as [x, y, z, roll, pitch, yaw]. +Also, we will set these values with "0" until the [calibration steps](../calibrating-sensors). + +We will define new frames for this file, and we will connect them `.xacro` files. +We recommend naming as if your lidar sensor frame as "velodyne_top", +you can add "\_base_link" to our calibration .yaml file. W + +So, the sample file must be like: + +```yaml +sensor_kit_base_link: + velodyne_top_base_link: + x: 0.000000 + y: 0.000000 + z: 0.000000 + roll: 0.000000 + pitch: 0.000000 + yaw: 0.000000 + camera0/camera_link: + x: 0.000000 + y: 0.000000 + z: 0.000000 + roll: 0.000000 + pitch: 0.000000 + yaw: 0.000000 + ... + ... +``` + +This file for `tutorial_vehicle` was created for one camera, two lidars and one GNSS/INS sensors. + +??? note "sensor_kit_calibration.yaml for tutorial_vehicle_sensor_kit_description" + + ```yaml + sensor_kit_base_link: + camera0/camera_link: # Camera + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + rs_helios_top_base_link: # Lidar + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + rs_bpearl_front_base_link: # Lidar + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + gnss_link: # GNSS/INS + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + ``` + +### sensors_calibration.yaml + +This file defines the mounting positions and orientations of `sensor_kit_base_link` (child frame) +with `base_link` as the parent frame. +At Autoware, `base_link` is on projection of the rear-axle center onto the ground surface. +For more information, +you can check [vehicle dimension](../../../../design/autoware-interfaces/components/vehicle-dimensions.md) page. +You can use CAD values for this, but we will fill the values with `0` for now. + +```yaml +base_link: + sensor_kit_base_link: + x: 0.000000 + y: 0.000000 + z: 0.000000 + roll: 0.000000 + pitch: 0.000000 + yaw: 0.000000 +``` + +Now, we are ready to implement .xacro files. +These files provide linking our sensor frames and adding sensor urdf files + +### sensor_kit.xacro + +We will add our sensors and remove unnecessary xacros from this file. +For example, +we want +to add our lidar sensor with `velodyne_top` frame we will add this xacro to our sensor_kit.xacro file. +Please add your sensors to this file and remove unnecessary sensor's xacros. + +```xml + + + + +``` + +Here is the sample xacro file for tutorial_vehicle with one camera, two lidars and one GNSS/INS sensors. + +??? note "sensor_kit.xacro for tutorial_vehicle_sensor_kit_description" + + ```xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ``` + +### sensors.xacro + +This files links our sensor_kit main frame (`sensor_kit_base_link`) to base_link. +Also, you have sensors which will be calibrated directly to base_link, you must add here. + +Here is the sensors.xacro file for sample_sensor_kit_description package: +(velodyne_rear transformation is directly used with base_link) + +```xml + + + + + + + + + + + + + + + +``` + +At out tutorial vehicle, +there is no directly sensor transformation for base_link, +thus our sensors.xacro file includes only `base_link` and `sensor_kit_base_link` link. + +??? note "sensors.xacro for tutorial_vehicle_sensor_kit_description" + + ```xml + + + + + + + + + + + ``` + +After the completing `sensor_kit_calibration.yaml`, `sensors_calibration.yaml`, `sensor_kit.xacro` +and `sensors.xacro` file, our sensor description package is finished, +we will continue with modifying `_sensor_kit_launch` package. + +## Sensor launch + +At this package (`_sensor_kit_launch`), +we will launch our sensors and their pipelines. +So, we will also use `common_sensor_launch` package for launching the lidar sensing pipeline. +This image below demonstrates our sensor pipeline, which we will construct in this section. + +
+ ![sensor_launch_design](images/sensor_launch_design.svg){ align=center } +
+ Sample Launch workflow for sensing design. +
+
+ +The `_sensor_kit_launch` package folder structure like this: + +```diff +_sensor_kit_launch/ + ├─ config/ + ├─ data/ + └─ launch/ ++ ├─ camera.launch.xml ++ ├─ gnss.launch.xml ++ ├─ imu.launch.xml ++ ├─ lidar.launch.xml ++ ├─ pointcloud_preprocessor.launch.py ++ └─ sensing.launch.xml +``` + +So, +we will modify the launch files +which located the `launch` folder for launching and manipulating our sensors. +The main launch file is `sensing.launch.xml`. +This launch file launches other sensing launch files. diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/.pages b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md new file mode 100644 index 00000000000..5270c36562c --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md @@ -0,0 +1 @@ +# Creating a vehicle model for Autoware diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/index.md new file mode 100644 index 00000000000..efad9b6d6cd --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/index.md @@ -0,0 +1,47 @@ +# Creating vehicle and sensor models + +## Overview + +### Sensor Model + +- **Purpose:** The sensor model includes the calibration (transformation) and launch files of the sensors used in the autonomous vehicle. This includes various sensors like LiDARs, cameras, radars, IMUs (Inertial Measurement Units), GPS units, etc. +- **Importance:** Accurate sensor modeling is essential for perception tasks. True calibration values helps in understanding the environment by processing sensor data, such as detecting objects, estimating distances, and creating a 3D representation of the surroundings. +- **Usage:** The sensor model is used in Autoware for launching sensors, their pipeline and describing calibration values. + +- The sensor model (sensor kit) consists of three following packages: + - `common_sensor_launch` + - `_sensor_kit_description` + - `_sensor_kit_launch` + +Please follow the [creating sensor model](./creating-sensor-model) page +for creating your own individual sensor model. + +Here is the [sample_sensor_kit_launch](https://github.com/autowarefoundation/sample_sensor_kit_launch) package folder structure for autoware: + +```diff +sample_sensor_kit_launch/ +├─ common_sensor_launch/ +├─ sample_sensor_kit_description/ +└─ sample_sensor_kit_launch/ +``` + +### Vehicle Model + +- **Purpose:** The vehicle model includes individual vehicle specifications with dimensions, 3D model of vehicle (.fbx or .dae format), etc. +- **Importance:** An accurate vehicle model is crucial for motion planning and control. +- **Usage:** The vehicle model is used in autoware for providing vehicle information for autoware, 3D model of vehicle, etc. + +- The sensor model (sensor kit) consists of three following packages: + - `_vehicle_description` + - `_vehicle_launch` + +Please follow the [creating vehicle model](./creating-vehicle-model) page +for creating your own individual vehicle model. + +Here is the [sample_vehicle_launch](https://github.com/autowarefoundation/sample_vehicle_launch) package folder structure for autoware: + +```diff +sample_vehicle_launch/ +├─ sample_vehicle_description/ +└─ sample_vehicle_launch/ +``` diff --git a/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md b/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md index 71b128ba18f..9f5fadc8519 100644 --- a/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md +++ b/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md @@ -50,8 +50,8 @@ Example: If you fork `individual_params` and rename `autoware_individual_params. Please refer to the following documentation link for instructions on how to create and customize each `vehicle_interface`: -- [creating-vehicle-and-sensor-description](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description) -- [creating-vehicle-interface-package](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model/) -- [customizing-for-differential-drive-model](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/customizing-for-differential-drive-model/) +- [creating-vehicle-and-sensor-description](../creating-vehicle-and-sensor-model/index.md) +- [creating-vehicle-interface-package](../creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model.md) +- [customizing-for-differential-drive-model](../creating-vehicle-interface-package/customizing-for-differential-drive-model.md) Please remember to add all your custom packages, such as interfaces and descriptions, to your `autoware.repos` to ensure that your packages are properly included and managed within the Autoware repository.