init traffic light

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

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages

@@ -3,3 +3,4 @@ nav:
   - Lanelet 2: lanelet2
   - Crosswalk: crosswalk
   - Stop Line: stop-line
+  - Traffic light: traffic-light

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md

@@ -60,6 +60,15 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/
 4. After that, please press `Shift`, then click right click button for inserting pedestrians.
 5. You can control inserted pedestrian via dragging right click.
 
+Crosswalk markers on rviz:
+
+<figure markdown>
+  ![crosswalk-test](images/crosswalk-test.png){ align=center }
+  <figcaption>
+    Crosswalk test on the created map.
+  </figcaption>
+</figure>
+
 Video Demonstration:
 
 ![type:video](https://youtube.com/embed/hhwBku_1qmA)

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md

@@ -14,7 +14,11 @@ So, this process can be tedious and time-consuming.
 You need a TIER IV account for using vector map builder tool.
 So, if you have not before, please [create a TIER IV account](https://account.tier4.jp/registration?return_to=/oidc/login?login_challenge=81c846efae994bf8a79dac0aab6b8875)
 in order to use [vector map builder tool](https://tools.tier4.jp/feature/vector_map_builder_ll2/).
+For more information about this tool, please check the [official guide](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction).
 
 You can follow these pages for creating a Lanelet2 map and its regulatory elements.
 
 - [Lanelet 2](./lanelet2)
+- [Crosswalk](./crosswalk)
+- [Stop Line](./stop-line)
+- [Traffic Light](./traffic-light)

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md

@@ -8,7 +8,7 @@ In order to operate that, we will add stop line attribute to our lanelet2 map.
 
 In order to create a stop line on your pointcloud map, please follow these steps:
 
-1. Please select lanelet to add stop line.
+1. Please select lanelet which stop line to be added.
 2. Click `Abstraction` button on top panel.
 3. Select `Stop Line` from the panel.
 4. Click on the desired area for inserting stop line.
@@ -59,6 +59,15 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/
 2. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
 3. You can see the stop line marker on the rviz screen.
 
+Stop line markers on rviz:
+
+<figure markdown>
+  ![stop-line-test](images/stop-line-test.png){ align=center }
+  <figcaption>
+    Stop line test on the created map.
+  </figcaption>
+</figure>
+
 Video Demonstration:
 
 ![type:video](https://youtube.com/embed/cAQ_ulo7LHo)

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/.pages

@@ -0,0 +1,2 @@
+nav:
+  - index.md

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md

@@ -0,0 +1,76 @@
+# Traffic light
+
+Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity
+according to the traffic light status.
+In order to operate that, we will add stop line attribute to our lanelet2 map.
+
+## Creating a traffic light regulatory element
+
+In order to create a traffic light on your pointcloud map, please follow these steps:
+
+1. Please select lanelet which traffic light to be added.
+2. Click `Abstraction` button on top panel.
+3. Select `Traffic Light` from the panel.
+4. Click on the desired area for inserting traffic light.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/P3xcayPkTOg)
+
+### Testing created the traffic light element with planning simulator
+
+After the completing of creating the map, we need to save it.
+To that please click `File` --> `Export Lanelet2Maps` then download.
+
+After the download is finished,
+we need to put lanelet2 map and pointcloud map on the same location.
+The directory structure should be like this:
+
+```diff
++ <YOUR-MAP-DIRECTORY>/
++  ├─ pointcloud_map.pcd
++  └─ lanelet2_map.osm
+```
+
+If your .osm or .pcd map file's name is different from these names,
+you need to update autoware.launch.xml:
+
+```diff
+  <!-- Map -->
+-  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
++  <arg name="lanelet2_map_file" default="<YOUR-LANELET-MAP-NAME>.osm" description="lanelet2 map file name"/>
+-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
++  <arg name="pointcloud_map_file" default="<YOUR-POINTCLOUD-MAP-NAME>.pcd" description="pointcloud map file name"/>
+```
+
+Now we are ready to launch the planning simulator:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT>
+```
+
+Example for tutorial_vehicle:
+
+```bash
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/autoware_map/tutorial_map/ vehicle_model:=tutorial_vehicle sensor_model:=tutorial_vehicle_sensor_kit vehicle_id:=tutorial_vehicle
+```
+
+1. Click `2D Pose Estimate` button on rviz or press `P` and give a pose for initialization.
+2. Click `Panels` -> `Add new panel`, select `TrafficLightPublishPanel`, and then press `OK`.
+3. In TrafficLightPublishPanel, set the ID and color of the traffic light.
+4. Then, Click `SET` and `PUBLISH` button.
+5. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
+6. You can see the traffic light marker on the rviz screen if you set the traffic light color as `RED`.
+
+Traffic Light markers on rviz:
+
+<figure markdown>
+  ![traffic-light-test](images/traffic-light-test.png){ align=center }
+  <figcaption>
+    Traffic light test on the created map.
+  </figcaption>
+</figure>
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/AaFT24uqbJk)