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docs(launch-autoware): add how to launch yabloc or eagleye (#411)
* add yabloc page but it's empty Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update yabloc-integration-guide Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * add what is YabLoc Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * moved yabloc and eagleye docs under launch-autoware Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * WIP add some descriptions in Japanese Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * WIP update Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * modified structure Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * translate in english Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * applied pre-commit Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix typo Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix typo again Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * reflected reviews Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * removed yabloc sub-page Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add comprehensive table Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use markdown rather than html Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * i dont know why the table does not appear Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update table Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * today's CI is annoying Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split table Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎docs/how-to-guides/index.md‎

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- [Determining component dependencies](others/determining-component-dependencies.md)
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- [Advanced usage of colcon](others/advanced-usage-of-colcon.md)
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- [Applying Clang-Tidy to ROS packages](others/applying-clang-tidy-to-ros-packages.md)
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- [Using Eagleye in Autoware](others/eagleye-integration-guide.md)
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- [Defining temporal performance metrics on components](others/defining-temporal-performance-metrics.md)
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TODO: Write the following contents.

‎docs/how-to-guides/integrating-autoware/.pages‎

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- 2. Creating vehicle and sensor description: creating-vehicle-and-sensor-description
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- 3. Creating vehicle interface: creating-vehicle-interface-package
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- 4. Creating maps: creating-maps
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- 5. Launch Autoware: launch-autoware.md
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- 5. Launch Autoware: launch-autoware
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- 6. Tuning parameters and performance: tuning-parameters-and-performance

‎docs/how-to-guides/integrating-autoware/launch-autoware.md‎

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‎docs/how-to-guides/integrating-autoware/launch-autoware/.pages‎

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nav:
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- index.md
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- Localization mode: localization-mode
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- Perception mode: perception.md

‎docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_goal_pose.png‎

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‎docs/how-to-guides/integrating-autoware/launch-autoware/index.md‎

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# Launch Autoware
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!!! warning
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Under Construction
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This section explains how to run your vehicle with Autoware.
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## Install Autoware
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Follow the [installation steps of Autoware](../../../installation/).
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## Launch Autoware
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Launch Autoware with the following command:
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```bash
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ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP
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```
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It is possible to specify which components to launch using command-line arguments.
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For example, if you don't need to launch perception, planning, and control for localization debug, you can launch the following:
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```bash
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ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \
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launch_perception:=false \
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launch_planning:=false \
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launch_control:=false
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```
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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).
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There are options available to switch between different methods for some component.
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For example, by specifying `localization_mode` or `perception_mode`, you can switch localization and perception methods, respectively.
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These options allow you to choose the desired algorithms or sensor configurations for the respective functionalities.
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For options on eagleye component, please refer to the sub-pages.
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- [localization-mode](localization-mode/index.md)
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- [perception-mode](perception.md)
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## Set initial pose
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If GNSS is available, Autoware automatically initializes the vehicle's pose.
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If not or if the automatic initialization returns an incorrect position, you need to set the initial pose using the RViz GUI.
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1. Click the 2D Pose estimate button in the toolbar, or hit the P key
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![2D Pose estimate](images/2d_pose_estimate.png)
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2. In the 3D View pane, click and hold the left mouse button, and then drag to set the direction for the initial pose.
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## Set goal pose
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Set a goal pose for the ego vehicle.
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1. Click the 2D Nav Goal button in the toolbar, or hit the G key
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![2D Pose estimate](images/2d_goal_pose.png)
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2. In the 3D View pane, click and hold the left mouse button, and then drag to set the direction for the goal pose.
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If successful, you will see the calculated planning path on RViz.
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![route planning](images/route_planning_is_complete.png){width="800"}
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## Engage
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In your terminal, execute the following command.
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```bash
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source ~/autoware.YOURS/install/setup.bash
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ros2 topic pub /autoware.YOURS/engage autoware_auto_vehicle_msgs/msg/Engage "engage: true" -1
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```
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You can also engage via RViz with "AutowareStatePanel".
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The panel can be found in `Panels > Add New Panel > tier4_state_rviz_plugin > AutowareStatePanel`.
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Once the route is computed, the "AUTO" button becomes active. Pressing the AUTO button engages the autonomous driving mode.
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![autoware state panel](images/autoware_state_panel_before.png)
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Now the vehicle should drive along the calculated path!
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During the autonomous driving, the StatePanel appears as shown in the image below. Pressing the "STOP" button allows you to stop the vehicle.
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![autoware state panel](images/autoware_state_panel_after.png)

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