autowarefoundation · KYabuuchi · Jul 5, 2023 · May 18, 2023 · Jun 9, 2023 · Jun 12, 2023
diff --git a/docs/how-to-guides/index.md b/docs/how-to-guides/index.md
@@ -13,7 +13,6 @@
 - [Determining component dependencies](others/determining-component-dependencies.md)
 - [Advanced usage of colcon](others/advanced-usage-of-colcon.md)
 - [Applying Clang-Tidy to ROS packages](others/applying-clang-tidy-to-ros-packages.md)
-- [Using Eagleye in Autoware](others/eagleye-integration-guide.md)
 - [Defining temporal performance metrics on components](others/defining-temporal-performance-metrics.md)
 
 TODO: Write the following contents.

diff --git a/docs/how-to-guides/integrating-autoware/.pages b/docs/how-to-guides/integrating-autoware/.pages
@@ -4,5 +4,5 @@ nav:
   - 2. Creating vehicle and sensor description: creating-vehicle-and-sensor-description
   - 3. Creating vehicle interface: creating-vehicle-interface-package
   - 4. Creating maps: creating-maps
-  - 5. Launch Autoware: launch-autoware.md
+  - 5. Launch Autoware: launch-autoware
   - 6. Tuning parameters and performance: tuning-parameters-and-performance
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware.md b/docs/how-to-guides/integrating-autoware/launch-autoware.md
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages
@@ -0,0 +1,4 @@
+nav:
+  - index.md
+  - Localization mode: localization-mode
+  - Perception mode: perception.md
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_goal_pose.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_goal_pose.png
diff --git a/.../how-to-guides/integrating-autoware/launch-autoware/images/2d_pose_estimate.png b/.../how-to-guides/integrating-autoware/launch-autoware/images/2d_pose_estimate.png
diff --git a/...ides/integrating-autoware/launch-autoware/images/autoware_state_panel_after.png b/...ides/integrating-autoware/launch-autoware/images/autoware_state_panel_after.png
diff --git a/...des/integrating-autoware/launch-autoware/images/autoware_state_panel_before.png b/...des/integrating-autoware/launch-autoware/images/autoware_state_panel_before.png
diff --git a/...ides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png b/...ides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md
@@ -0,0 +1,87 @@
+# Launch Autoware
+
+!!! warning
+
+    Under Construction
+
+This section explains how to run your vehicle with Autoware.
+
+## Install Autoware
+
+Follow the [installation steps of Autoware](../../../installation/).
+
+## Launch Autoware
+
+Launch Autoware with the following command:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP
+```
+
+It is possible to specify which components to launch using command-line arguments.
+For example, if you don't need to launch perception, planning, and control for localization debug, you can launch the following:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \
+    launch_perception:=false \
+    launch_planning:=false \
+    launch_control:=false
+```
+
+The basic command-line options are documented in [autoware.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/autoware.launch.xml).
+
+There are options available to switch between different methods for some component.
+For example, by specifying `localization_mode` or `perception_mode`, you can switch localization and perception methods, respectively.
+These options allow you to choose the desired algorithms or sensor configurations for the respective functionalities.
+
+For options on eagleye component, please refer to the sub-pages.
+
+- [localization-mode](localization-mode/index.md)
+- [perception-mode](perception.md)
+
+## Set initial pose
+
+If GNSS is available, Autoware automatically initializes the vehicle's pose.
+
+If not or if the automatic initialization returns an incorrect position, you need to set the initial pose using the RViz GUI.
+
+1. Click the 2D Pose estimate button in the toolbar, or hit the P key
+
+   ![2D Pose estimate](images/2d_pose_estimate.png)
+
+2. In the 3D View pane, click and hold the left mouse button, and then drag to set the direction for the initial pose.
+
+## Set goal pose
+
+Set a goal pose for the ego vehicle.
+
+1. Click the 2D Nav Goal button in the toolbar, or hit the G key
+
+   ![2D Pose estimate](images/2d_goal_pose.png)
+
+2. In the 3D View pane, click and hold the left mouse button, and then drag to set the direction for the goal pose.
+   If successful, you will see the calculated planning path on RViz.
+
+   ![route planning](images/route_planning_is_complete.png){width="800"}
+
+## Engage
+
+In your terminal, execute the following command.
+
+```bash
+source ~/autoware.YOURS/install/setup.bash
+ros2 topic pub /autoware.YOURS/engage autoware_auto_vehicle_msgs/msg/Engage "engage: true" -1
+```
+
+You can also engage via RViz with "AutowareStatePanel".
+The panel can be found in `Panels > Add New Panel > tier4_state_rviz_plugin > AutowareStatePanel`.
+
+Once the route is computed, the "AUTO" button becomes active. Pressing the AUTO button engages the autonomous driving mode.
+
+![autoware state panel](images/autoware_state_panel_before.png)
+
+Now the vehicle should drive along the calculated path!
+
+During the autonomous driving, the StatePanel appears as shown in the image below. Pressing the "STOP" button allows you to stop the vehicle.
+
+![autoware state panel](images/autoware_state_panel_after.png)
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization-mode/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-mode/.pages
@@ -0,0 +1,3 @@
+nav:
+  - index.md
+  - Eagleye: eagleye-guide.md
diff --git a/...-guides/integrating-autoware/launch-autoware/localization-mode/eagleye-guide.md b/...-guides/integrating-autoware/launch-autoware/localization-mode/eagleye-guide.md
@@ -0,0 +1,120 @@
+# Using Eagleye with Autoware
+
+This page will show you how to set up [Eagleye](https://github.com/MapIV/eagleye) in order to use it with Autoware.
+For the details of the integration proposal, please refer to [this discussion](https://github.com/orgs/autowarefoundation/discussions/3257).
+
+## What is Eagleye?
+
+Eagleye is an open-source GNSS/IMU-based localizer initially developed by [MAP IV. Inc](https://map4.jp/). It provides a cost-effective alternative to LiDAR and point cloud-based localization by using low-cost GNSS and IMU sensors to provide vehicle position, orientation, and altitude information.
+
+### Dependencies
+
+The below packages are automatically installed during the setup of Autoware as they are listed in [autoware.repos](https://github.com/autowarefoundation/autoware/blob/main/autoware.repos).
+
+1. [Eagleye](https://github.com/MapIV/eagleye.git) (autoware-main branch)
+2. [RTKLIB ROS Bridge](https://github.com/MapIV/rtklib_ros_bridge.git) (ros2-v0.1.0 branch)
+3. [LLH Converter](https://github.com/MapIV/llh_converter.git) (ros2 branch)
+
+## Architecture
+
+Eagleye can be utilized in the Autoware localization stack in two ways:
+
+1. Feed only twist into the EKF localizer.
+
+   ![Eagleye twist integration](images/eagleye-integration-guide/eagleye_twist.drawio.svg)
+
+2. Feed both twist and pose from Eagleye into the EKF localizer (twist can also be used with regular `gyro_odometry`).
+
+   ![Eagleye pose twist integration](images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg)
+
+**Note: RTK positioning is required when using Eagleye as the pose estimator.**
+On the other hand, it is not mandatory when using it as the twist estimator.
+
+## Requirements
+
+Eagleye requires GNSS, IMU and vehicle speed as inputs.
+
+### IMU topic
+
+`sensor_msgs/msg/Imu` is supported for Eagleye IMU input.
+
+### Vehicle speed topic
+
+`geometry_msgs/msg/TwistStamped` and `geometry_msgs/msg/TwistWithCovarianceStamped` are supported for the input vehicle speed.
+
+### GNSS topic
+
+Eagleye requires latitude/longitude height and doppler velocity generated by the GNSS receiver.
+Your GNSS ROS driver must publish the following messages:
+
+- `sensor_msgs/msg/NavSatFix`: This message contains latitude, longitude, and height information.
+- `geometry_msgs/msg/TwistWithCovarianceStamped`: This message contains gnss doppler velocity information.
+
+Eagleye has been tested with the following example GNSS ROS drivers: ublox_gps and septentrio_gnss_driver. The settings needed for each of these drivers are as follows:
+
+| GNSS ROS drivers                                                                              | modification                                                                                                                                                                     |
+| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [ublox_gps](https://github.com/KumarRobotics/ublox/tree/ros2/ublox_gps)                       | No additional settings are required. It publishes `sensor_msgs/msg/NavSatFix` and `geometry_msgs/msg/TwistWithCovarianceStamped` required by Eagleye with default settings.      |
+| [septentrio_gnss_driver](https://github.com/septentrio-gnss/septentrio_gnss_driver/tree/ros2) | Set `publish.navsatfix` and `publish.twist` in the config file [`gnss.yaml`](https://github.com/septentrio-gnss/septentrio_gnss_driver/blob/ros2/config/gnss.yaml#L90) to `true` |
+
+## Parameter Modifications for Integration into Your Vehicle
+
+### topic name & topic type
+
+The users must correctly specify input topics for GNSS latitude, longitude, and height , GNSS doppler speed , IMU , and vehicle speed in the [`eagleye_config.yaml`](https://github.com/MapIV/autoware_launch/blob/3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da/autoware_launch/config/localization/eagleye_config.param.yaml#L7-L16).
+
+```yaml
+# Topic
+twist:
+  twist_type: 1 # TwistStamped : 0, TwistWithCovarianceStamped: 1
+  twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
+imu_topic: /sensing/imu/tamagawa/imu_raw
+gnss:
+  velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
+  velocity_source_topic: /sensing/gnss/ublox/navpvt
+  llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
+  llh_source_topic: /sensing/gnss/ublox/nav_sat_fix
+```
+
+### sensor frequency
+
+Also, the frequency of GNSS and IMU must be set in [`eagleye_config.yaml`](https://github.com/MapIV/autoware_launch/blob/3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da/autoware_launch/config/localization/eagleye_config.param.yaml#L36)
+
+```yaml
+common:
+  imu_rate: 50
+  gnss_rate: 5
+```
+
+### Conversion from fix to pose
+
+The parameters for converting `sensor_msgs/msg/NavSatFix` to `geometry_msgs/msg/PoseWithCovarianceStamped` is listed in [`fix2pose.yaml`](https://github.com/MapIV/eagleye/blob/autoware-main/eagleye_util/fix2pose/launch/fix2pose.xml).
+If you use a different geoid or projection type, change these parameters.
+
+### Other parameters
+
+The other parameters are described [here](https://github.com/MapIV/eagleye/tree/autoware-main/eagleye_rt/config).
+Basically, these do not need to be changed .
+
+## Notes on initialization
+
+Eagleye requires an initialization process for proper operation. **Without initialization, the output for twist will be in the raw value, and the pose data will not be available.**
+
+### 1. Static Initialization
+
+The first step is static initialization, which involves allowing the Eagleye to remain stationary for approximately 5 seconds after startup to estimate the yaw-rate offset.
+
+### 2. Dynamic initialization
+
+The next step is dynamic initialization, which involves running the Eagleye in a straight line for approximately 30 seconds. This process estimates the scale factor of wheel speed and azimuth angle.
+
+Once dynamic initialization is complete, the Eagleye will be able to provide corrected twist and pose data.
+
+### How to check the progress of initialization
+
+- **TODO**
+
+## Note on georeferenced maps
+
+Note that the output position might not appear to be in the point cloud maps if you are using maps that are not properly georeferenced.
+In the case of a single GNSS antenna, initial position estimation (dynamic initialization) can take several seconds to complete after starting to run in an environment where GNSS positioning is available.
diff --git a/...ation-guide/eagleye_pose_twist.drawio.svg → ...ation-guide/eagleye_pose_twist.drawio.svg b/...ation-guide/eagleye_pose_twist.drawio.svg → ...ation-guide/eagleye_pose_twist.drawio.svg
diff --git a/...ntegration-guide/eagleye_twist.drawio.svg → ...ntegration-guide/eagleye_twist.drawio.svg b/...ntegration-guide/eagleye_twist.drawio.svg → ...ntegration-guide/eagleye_twist.drawio.svg
diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization-mode/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-mode/index.md
@@ -0,0 +1,129 @@
+# Localization mode
+
+The Autoware provides multiple localization methods that work with multiple different sensor configurations.
+The table below shows the supported sensor configurations and their corresponding algorithms.
+
+| localization mode | algorithm | map type        |
+| ----------------- | --------- | --------------- |
+| LiDAR-based       | NDT       | point cloud map |
+| Camera-based      | YabLoc    | vector map      |
+| GNSS/IMU-based    | Eagleye   | -               |
+
+## LiDAR-based localizer (default)
+
+By default, Autoware launches [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher) for localization.
+
+## Camera-based localizer
+
+You can use YabLoc as a camera-based localization method.
+For more details on YabLoc, please refer to the [README of YabLoc](https://github.com/autowarefoundation/autoware.universe/blob/main/localization/yabloc/README.md) in autoware.universe.
+
+To use YabLoc as a pose_estimator, add `localization_mode:=camera` when launching Autoware.
+By default, the `localization_mode` is set to `lidar`.
+By specifying this command-line argument, YabLoc nodes will be automatically launched while the NDT nodes will not be started.
+
+Here is an example of a launch command:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml \
+  vehicle_model:=YOUR_VEHICLE \
+  sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \
+  localization_mode:=camera # Add this argument
+```
+
+## GNSS/IMU-based localizer
+
+You can use Eagleye as a GNSS/IMU-based localization method. For more details on Eagleye, please refer to the [Eagleye](eagleye-guide.md).
+
+Eagleye has a function for position estimation and twist estimation, namely `pose_estimator` and `twist_estimator`, respectively.
+When running Eagleye in twist_estimator mode, ndt_scan_matcher is used as the pose_estimator.
+Eagleye will improve scan matching by providing accurate twists using GNSS doppler.
+
+To use Eagleye, it requires both specifying the command-line arguments and modifying the launch file.
+
+Firstly, please modify the commented-out line and change it to launch `map4_localization_component.launch.xml` instead of `tier4_localization_component.launch.xml` in [`autoware.launch.xml`](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/autoware.launch.xml).
+Please refer to the following snippet for the modification details:
+
+```xml
+  <!-- Localization -->
+  <group if="$(var launch_localization)">
+    <!-- <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/> -->
+    <include file="$(find-pkg-share autoware_launch)/launch/components/map4_localization_component.launch.xml"/>
+  </group>
+```
+
+NOTE: Please refer to [`map4_localization_launch`](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/map4_localization_launch) in the `autoware.universe` package and [`map4_localization_component.launch.xml`](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/components/map4_localization_component.launch.xml) in `autoware_launch` package for information on how to modify the localization launch.
+
+Once you have modified the launch file, you can use Eagleye by specifying the `pose_estimator_mode` through command-line arguments.
+
+**Example of using Eagleye as the pose twist estimator:**
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml \
+  vehicle_model:=YOUR_VEHICLE \
+  sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \
+  pose_estimator_mode:=gnss # Add this argument
+```
+
+**Example of using Eagleye as the twist estimator:**
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml \
+  vehicle_model:=YOUR_VEHICLE \
+  sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \
+  pose_estimator_mode:=lidar # Not mandatory, as it is the default.
+```
+
+## Comprehensive Options Table
+
+The table below indicates which pose_estimator and twist_estimator are called based on the invoked launch file and provided arguments.
+
+<table>
+    <thead>
+        <tr>
+            <th colspan=3>tier4_localization_component.launch.xml</th>
+        </tr>
+        <tr>
+            <th>localization_mode</th>
+            <th>pose_estimator</th>
+            <th>twist_estimator</th>
+        </tr>
+    </thead>
+    <tbody>
+        <tr>
+            <td>lidar (default)</td>
+            <td>ndt_scan_matcher</td>
+            <td>gyro_odometer</td>
+        </tr>
+        <tr>
+            <td>camera</td>
+            <td>yabloc</td>
+            <td>gyro_odometer</td>
+        </tr>
+    </tbody>
+</table>
+
+<table>
+    <thead>
+        <tr>
+            <th colspan=3>map4_localization_component.launch.xml</th>
+        </tr>
+        <tr>
+            <th>pose_estimator_mode</th>
+            <th>pose_estimator</th>
+            <th>twist_estimator</th>
+        </tr>
+    </thead>
+    <tbody>
+        <tr>
+            <td>lidar (default)</td>
+            <td>ndt_scan_matcher</td>
+            <td>eagleye</td>
+        </tr>
+        <tr>
+            <td>gnss</td>
+            <td>eagleye</td>
+            <td>eagleye</td>
+        </tr>
+    </tbody>
+</table>