init stop line

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

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages

@@ -2,3 +2,4 @@ nav:
   - index.md
   - Lanelet 2: lanelet2
   - Crosswalk: crosswalk
+  - Stop Line: stop-line

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md

@@ -16,9 +16,9 @@ Video Demonstration:
 
 ![type:video](https://youtube.com/embed/J6WrL8dkFhI)
 
-### Test crosswalk with planning simulator
+### Testing created crosswalk with planning simulator
 
-After the completing of creating map, we need to save it.
+After the completing of creating the map, we need to save it.
 To that please click `File` --> `Export Lanelet2Maps` then download.
 
 After the download is finished,
@@ -62,4 +62,4 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/
 
 Video Demonstration:
 
-![type:video](https://youtube.com/embed/hhwBku_1qmA)
+![type:video](https://youtube.com/embed/hhwBku_1qmA)

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/.pages

@@ -0,0 +1,2 @@
+nav:
+  - index.md

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md

@@ -0,0 +1,64 @@
+# Stop Line
+
+Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity
+to stop right before stop lines and restart driving after stopped.
+In order to operate that, we will add stop line attribute to our lanelet2 map.
+
+## Creating a stop line regulatory element
+
+In order to create a stop line on your pointcloud map, please follow these steps:
+
+1. Please select lanelet to add stop line.
+2. Click `Abstraction` button on top panel.
+3. Select `Stop Line` from the panel.
+4. Click on the desired area for inserting stop line.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/cgTSA50Yfyo)
+
+### Testing created the stop line element with planning simulator
+
+After the completing of creating the map, we need to save it.
+To that please click `File` --> `Export Lanelet2Maps` then download.
+
+After the download is finished,
+we need to put lanelet2 map and pointcloud map on the same location.
+The directory structure should be like this:
+
+```diff
++ <YOUR-MAP-DIRECTORY>/
++  ├─ pointcloud_map.pcd
++  └─ lanelet2_map.osm
+```
+
+If your .osm or .pcd map file's name is different from these names,
+you need to update autoware.launch.xml:
+
+```diff
+  <!-- Map -->
+-  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
++  <arg name="lanelet2_map_file" default="<YOUR-LANELET-MAP-NAME>.osm" description="lanelet2 map file name"/>
+-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
++  <arg name="pointcloud_map_file" default="<YOUR-POINTCLOUD-MAP-NAME>.pcd" description="pointcloud map file name"/>
+```
+
+Now we are ready to launch the planning simulator:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT>
+```
+
+Example for tutorial_vehicle:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/autoware_map/tutorial_map/ vehicle_model:=tutorial_vehicle sensor_model:=tutorial_vehicle_sensor_kit vehicle_id:=tutorial_vehicle
+```
+
+1. Click `2D Pose Estimate` button on rviz or press `P` and give a pose for initialization.
+2. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
+3. You can see the stop line marker on the rviz screen.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/cAQ_ulo7LHo)