move the desciription to tips/containers.md

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

Author: Koichi98

docs/environment-setup/scripts.md

@@ -17,7 +17,7 @@ Neither script requires `agnocast.ko` to be loaded or `libagnocast_heaphook.so`
 
 | Script | Purpose |
 |---|---|
-| `switch_kmod.bash` | Swap the host's `agnocast-kmod-v<ver>` to another version. For container-based setups where the heaphook travels with the container image and only the host-side kmod needs to be replaced independently. See [Upgrading → Switching only the host kmod](./upgrading.md#switching-only-the-host-kmod-container-based-setups) for details. |
+| `switch_kmod.bash` | Swap the host's `agnocast-kmod-v<ver>` to another version. For container-based setups where the heaphook travels with the container image and only the host-side kmod needs to be replaced independently. See [Running in Containers → Swapping the host kernel module](../tips/containers.md#swapping-the-host-kernel-module) for details. |
 
 ## Sample application launchers
 

docs/environment-setup/upgrading.md

@@ -48,23 +48,3 @@ When upgrading, keep the [versioning rules](index.md) in mind:
 - **Patch upgrades** (e.g., 2.3.3 → 2.3.2) — Safe. No API or syscall changes.
 - **Minor upgrades** (e.g., 2.3.x → 2.4.0) — `agnocastlib` and `agnocast-kmod` must be upgraded together, as the kmod syscall API may have changed.
 - **Major upgrades** — User-facing API may have breaking changes. Review the changelog before upgrading.
-
-## Switching only the host kmod (container-based setups)
-
-When Agnocast workloads run inside a container, `agnocast-heaphook` is bundled with the container image and is swapped by rolling to a new container. In that setup, only the host-side `agnocast-kmod` needs to be replaced independently to keep the ioctl ABI in sync with the heaphook inside the container.
-
-The [`switch_kmod.bash`](https://github.com/autowarefoundation/agnocast/blob/main/scripts/switch_kmod.bash) script automates the host-side kmod swap:
-
-```bash
-sudo ./scripts/switch_kmod.bash <VERSION>
-# e.g.
-sudo ./scripts/switch_kmod.bash 2.4.0
-```
-
-The script unloads the current module, purges every installed `agnocast-kmod-v*` package, cleans any leftover DKMS state, installs the target from apt, and verifies the new load via `dmesg`.
-
-!!! warning
-    All Agnocast containers and ROS nodes must be stopped before running this script — the module cannot be unloaded while `/dev/agnocast` is held open.
-
-!!! warning
-    The kmod version on the host and the `libagnocast_heaphook.so` version inside the container must share the same ioctl ABI. Mismatched versions cause runtime errors. This script does not touch the container; it is the operator's responsibility to roll the container to a matching version.

docs/tips/containers.md

@@ -99,3 +99,21 @@ services:
     devices:
       - /dev/agnocast
 ```
+
+## Swapping the host kernel module
+
+When you need to change the host's `agnocast-kmod` version independently of the heaphook bundled in the container (for example, after rolling the container image to a new version, or to reproduce a bug on an older kmod), use [`switch_kmod.bash`](https://github.com/autowarefoundation/agnocast/blob/main/scripts/switch_kmod.bash):
+
+```bash
+sudo ./scripts/switch_kmod.bash <VERSION>
+# e.g.
+sudo ./scripts/switch_kmod.bash 2.4.0
+```
+
+The script unloads the current module, purges every installed `agnocast-kmod-v*` package, cleans any leftover DKMS state, installs the target from apt, and verifies the new load via `dmesg`.
+
+!!! warning
+    All Agnocast containers and ROS nodes must be stopped before running this script — the module cannot be unloaded while `/dev/agnocast` is held open.
+
+!!! warning
+    The kmod version on the host and the `libagnocast_heaphook.so` version inside the container must share the same ioctl ABI. Mismatched versions cause runtime errors. This script does not touch the container; it is the operator's responsibility to roll the container to a matching version.