docs: add short tutorials (autowarefoundation#377)

* docs: add lane change tutorials Signed-off-by: Guan Muhua <muhua.guan@tier4.jp> * docs: add avoidance tutorials Signed-off-by: Guan Muhua <muhua.guan@tier4.jp> * style(pre-commit): autofix * docs: fix some typos Signed-off-by: Guan Muhua <muhua.guan@tier4.jp> * docs: fix 3 typos in the tutorial and the name of a picture file Signed-off-by: Guan Muhua <muhua.guan@tier4.jp> * docs: fix some numbering error caused by incorrect indents Signed-off-by: Guan Muhua <muhua.guan@tier4.jp> --------- Signed-off-by: Guan Muhua <muhua.guan@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: guiping meng <alan.meng@autocore.ai>
alanmengg · Aug 2, 2023 · 358216d · 358216d
1 parent c767a38
commit 358216d
Show file tree

Hide file tree

Showing 6 changed files with 38 additions and 0 deletions.
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-dummy-bus.png b/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-dummy-bus.png
diff --git a/...tutorials/ad-hoc-simulation/images/planning/avoidance/set-position-and-goal.png b/...tutorials/ad-hoc-simulation/images/planning/avoidance/set-position-and-goal.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/lane-changing.png b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/lane-changing.png
diff --git a/...orials/ad-hoc-simulation/images/planning/lane-change/open-nishishinjuku-map.png b/...orials/ad-hoc-simulation/images/planning/lane-change/open-nishishinjuku-map.png
diff --git a/...torials/ad-hoc-simulation/images/planning/lane-change/set-position-and-goal.png b/...torials/ad-hoc-simulation/images/planning/lane-change/set-position-and-goal.png
diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md
@@ -81,6 +81,44 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i
 
    ![parking-maneuver](images/planning/parking/parking-maneuver.png)
 
+### Lane change scenario
+
+1. Download and unpack Nishishinjuku map.
+
+   ```bash
+   gdown -O ~/autoware_map/ 'https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip'
+   unzip -d ~/autoware_map ~/autoware_map/nishishinjuku_autoware_map.zip
+   ```
+
+2. Launch autoware with Nishishinjuku map with following command:
+
+   ```bash
+   source ~/autoware/install/setup.bash
+   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/nishishinjuku_autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
+   ```
+
+   ![open-nishishinjuku-map](images/planning/lane-change/open-nishishinjuku-map.png)
+
+3. Set an initial pose and a goal pose in adjacent lanes.
+
+   ![set-position-and-goal](images/planning/lane-change/set-position-and-goal.png)
+
+4. Engage the ego vehicle. It will make a lane change along the planned path.
+
+   ![lane-changing](images/planning/lane-change/lane-changing.png)
+
+### Avoidance scenario
+
+1. Set an initial pose and a goal pose in the same lane. A path will be planned.
+
+   ![set-position-and-goal](images/planning/avoidance/set-position-and-goal.png)
+
+2. Set a "2D Dummy Bus" on the roadside. A new path will be planned.
+
+   ![set-dummy-bus](images/planning/avoidance/set-dummy-bus.png)
+
+3. Engage the ego vehicle. It will avoid the obstacle along the newly planned path.
+
 ## Advanced Simulations
 
 ### Placing dummy objects