add launch perception page

Signed-off-by: ismetatabay <[email protected]>

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

@@ -1,4 +1,4 @@
 nav:
   - index.md
   - Localization methods: localization-methods
-  - Perception mode: perception.md
+  - Perception Launch: perception

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

@@ -131,6 +131,20 @@ you will need to update these map file name arguments:
 
 ### Perception
 
+You can define your `autoware_data` path here.
+Autoware gets yabloc_pose_initializer,
+image_projection_based_fusion,
+lidar_apollo_instance_segmentation etc. models file with `autoware_data` path.
+If you use ansible for autoware installation,
+the necessary artifacts will be downloaded at `autoware_data` folder on your `$HOME` directory.
+If you want to download artifacts manually,
+please check ansible [`artifacts`](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) page for information.
+
+```diff
+- <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
++ <arg name="data_path" default="<YOUR-AUTOWARE-DATA-PATH>" description="packages data and artifacts directory path"/>
+```
+
 Also, you can change your perception method here.
 The Autoware provides `camera-lidar-radar fusion`,
 `camera-lidar fusion`, `lidar-radar fusion`, `lidar only` and `radar only` perception modes.

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

@@ -0,0 +1,112 @@
+# Perception Launch Files
+
+## Overview
+
+The Autoware perception stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_perception_component.launch.xml`
+for starting perception launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware perception launch files flow at `autoware_launch` and `autoware.universe` packages.
+
+<figure markdown>
+  ![perception-launch-flow](images/perception_launch_flow.svg){ align=center }
+  <figcaption>
+    Autoware perception launch flow diagram
+  </figcaption>
+</figure>
+
+The Autoware project is large. Therefore, as we manage the Autoware project, we utilize specific
+arguments in the launch files. ROS 2 offers an argument-overriding feature for these launch files.
+Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. For instance,
+if we define an argument at the top-level launch, it will override the value on lower-level launches.
+
+## tier4_perception_component.launch.xml
+
+The `tier4_perception_component.launch.xml` launch file is the main perception component launch at the `autoware_launch` package.
+This launch file calls `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch) package from `autoware.universe` repository.
+We can modify perception launch arguments at tier4_perception_component.launch.xml.
+Also,
+we can add any other necessary arguments
+that we want
+to change it since `tier4_perception_component.launch.xml` is the top-level launch file of other perception launch files.
+Here are some predefined perception launch arguments:
+
+- **occupancy_grid_map_method:** This parameter determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) package for detailed information.
+  The default probabilistic occupancy grid map method is `pointcloud_based_occupancy_grid_map`.
+  If you want to change it to the `laserscan_based_occupancy_grid_map`, you can change it here:
+
+  ```diff
+  - <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  + <arg name="occupancy_grid_map_method" default="laserscan_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  ```
+
+- **detected_objects_filter_method:** This parameter determines the filter method for detected objects.
+  Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about lanelet and position filter.
+  The default detected object filter method is `lanelet_filter`.
+  If you want to change it to the `position_filter`, you can change it here:
+
+  ```diff
+  - <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
+  + <arg name="detected_objects_filter_method" default="position_filter" description="options: lanelet_filter, position_filter"/>
+  ```
+
+- **detected_objects_validation_method:** This parameter determines the validation method for detected objects.
+  Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about validation methods.
+  The default detected object filter method is `obstacle_pointcloud`.
+  If you want to change it to the `occupancy_grid`, you can change it here,
+  but remember it requires `laserscan_based_occupancy_grid_map` method as `occupancy_grid_map_method`:
+
+  ```diff
+  - <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  + <arg name="occupancy_grid_map_method" default="laserscan_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+    <arg
+    name="detected_objects_validation_method"
+  - default="obstacle_pointcloud"
+  + default="occupancy_grid"
+    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
+    />
+  ```
+
+The predefined `tier4_perception_component.launch.xml` arguments explained above,
+but there is the lot of perception arguments
+included in `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch).
+Since we didn't fork `autoware.universe` repository,
+we can add the necessary launch argument to tier4_perception_component.launch.xml file.
+Please follow the guidelines for some examples.
+
+## perception.launch.xml
+
+The `perception.launch.xml` launch file is the main perception launch at the `autoware.universe`.
+This launch file calls necessary perception launch files
+as we mentioned [`Autoware perception launch flow diagram`](#overview) above.
+The top-level launch file of `perception.launch.xml` is `tier4_perception_component.launch.xml`,
+so if we want to change anything on `perception.launch.xml`,
+we will apply these changes `tier4_perception_component.launch.xml` instead of `perception.launch.xml`.
+
+Here are some example changes for the perception pipeline:
+
+- **remove_unknown:** This parameter determines the remove unknown objects at camera-lidar fusion.
+  Please check [roi_cluster_fusion](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md) node for detailed information.
+  The default value is `true`.
+  If you want to change it to the `false`,
+  you can add this argument to `tier4_perception_component.launch.xml`,
+  so it will override the `perception.launch.xml`'s `argument`:
+
+  ```diff
+  - <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
+  + <arg name="detected_objects_filter_method" default="position_filter" description="options: lanelet_filter, position_filter"/>
+  ```
+
+- **camera topics:** If you are using camera-lidar fusion or camera-lidar-radar fusion as a perception_mode,
+  you can add your camera and info topics on `tier4_perception_component.launch.xml` as well,
+  it will override the `perception.launch.xml` launch file arguments:
+
+  ```diff
+  + <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
+  + <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
+  + <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
+  ...
+  ```
+
+You can add every necessary argument
+to `tier4_perception_component.launch.xml` launch file like these examples.