autowarefoundation · Naophis · Jun 18, 2023 · Jun 16, 2023 · Jun 16, 2023 · Jun 16, 2023
diff --git a/...ating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md b/...ating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md
@@ -1,5 +1,204 @@
 # Creating vehicle and sensor description
 
-!!! warning
+## Introduction
 
-    Under Construction
+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, `<YOUR_SENSOR_KIT_description>/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, `<YOUR_SENSOR_KIT_description>/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/
++         └─ <YOUR_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 `<vehicle_id>` directory and switch parameters using options at startup.
+
+```bash
+# example1 (do not set vehicle_id)
+$ ros2 launch autoware_launch autoware.launch.xml sensor_model:=<YOUR_SENSOR_KIT> vehicle_mode:=<your_vehicle_model>
+# example2 (set vehicle_id as VEHICLE_1)
+$ ros2 launch autoware_launch autoware.launch.xml sensor_model:=<YOUR_SENSOR_KIT> vehicle_mode:=<your_vehicle_model> vehicle_id:=VEHICLE_1
+# example3 (set vehicle_id as VEHICLE_2)
+$ ros2 launch autoware_launch autoware.launch.xml sensor_model:=<YOUR_SENSOR_KIT> vehicle_mode:=<your_vehicle_model> vehicle_id:=VEHICLE_2
+```
+
+##### Sample Directory Structure
+
+```diff
+individual_params/
+└─ config/
+     ├─ default/
+     │   └─ <YOUR_SENSOR_KIT>/                  # example1
+     │        ├─ imu_corrector.param.yaml
+     │        ├─ sensor_kit_calibration.yaml
+     │        └─ sensors_calibration.yaml
++    ├─ VEHICLE_1/
++    │   └─ <YOUR_SENSOR_KIT>/                  # example2
++    │        ├─ imu_corrector.param.yaml
++    │        ├─ sensor_kit_calibration.yaml
++    │        └─ sensors_calibration.yaml
++    └─ VEHICLE_2/
++         └─ <YOUR_SENSOR_KIT>/                  # 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/).