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docs(rosbag-replay-simulation): add warnings about timestamp discrepancies and pre-playback messages #532

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1 change: 1 addition & 0 deletions .markdownlint.yaml
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siblings_only: true
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style: ordered
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38 changes: 21 additions & 17 deletions docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md
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Expand Up @@ -51,33 +51,37 @@

If you prefer a graphical user interface (GUI) over the command line for launching and managing your simulations, refer to the `Using Autoware Launch GUI` section at the end of this document for a step-by-step guide.

1. Launch Autoware.
1. Launch Autoware.

```sh
source ~/autoware/install/setup.bash
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
```
```sh
source ~/autoware/install/setup.bash
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
```

Note that you cannot use `~` instead of `$HOME` here.
Note that you cannot use `~` instead of `$HOME` here.

![after-autoware-launch](images/rosbag-replay/after-autoware-launch.png)
![after-autoware-launch](images/rosbag-replay/after-autoware-launch.png)

2. Play the sample rosbag file.
> ⚠️ You might encounter error and warning messages in the terminal before playing the `rosbag`. This is normal behavior. These should cease once the `rosbag` is played and proper initialization takes place

```sh
source ~/autoware/install/setup.bash
ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 0.2 -s sqlite3
```
2. Play the sample rosbag file.

![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png)
```sh
source ~/autoware/install/setup.bash
ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 0.2 -s sqlite3
```

3. To focus the view on the ego vehicle, change the `Target Frame` in the RViz Views panel from `viewer` to `base_link`.
> ⚠️ Due to the discrepancy between the timestamp in the `rosbag` and the current system timestamp, Autoware may generate warning messages in the terminal alerting to this mismatch. This is normal behavior.

![change-target-frame](images/rosbag-replay/change-target-frame.png)
![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png)

4. To switch the view to `Third Person Follower` etc, change the `Type` in the RViz Views panel.
3. To focus the view on the ego vehicle, change the `Target Frame` in the RViz Views panel from `viewer` to `base_link`.

![third-person-follower](images/rosbag-replay/third-person-follower.png)
![change-target-frame](images/rosbag-replay/change-target-frame.png)

4. To switch the view to `Third Person Follower` etc, change the `Type` in the RViz Views panel.

![third-person-follower](images/rosbag-replay/third-person-follower.png)

[Reference video tutorials](https://drive.google.com/file/d/12D6aSC1Y3Kf7STtEPWG5RYynxKdVcPrc/view?usp=sharing)

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