autowarefoundation · vish0012 · Dec 16, 2024 · Dec 16, 2024 · Dec 16, 2024 · Dec 16, 2024
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/2d dummy bus.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/2d dummy bus.png
diff --git a/...torials/ad-hoc-simulation/images/planning/others/After Initializing 2D Pose.png b/...torials/ad-hoc-simulation/images/planning/others/After Initializing 2D Pose.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/advacnce dumy object .png b/docs/tutorials/ad-hoc-simulation/images/planning/others/advacnce dumy object .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/avoidence set goal.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/avoidence set goal.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/first error view.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/first error view.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/first-overview.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/first-overview.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/goal pose.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/goal pose.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/interactive dummy .png b/docs/tutorials/ad-hoc-simulation/images/planning/others/interactive dummy .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/last 45.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/last 45.png
diff --git a/...tutorials/ad-hoc-simulation/images/planning/others/moving interactive demo .png b/...tutorials/ad-hoc-simulation/images/planning/others/moving interactive demo .png
diff --git a/...orials/ad-hoc-simulation/images/planning/others/nishi shinjuku lane change .png b/...orials/ad-hoc-simulation/images/planning/others/nishi shinjuku lane change .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/nishi shinjuku map .png b/docs/tutorials/ad-hoc-simulation/images/planning/others/nishi shinjuku map .png
diff --git a/.../tutorials/ad-hoc-simulation/images/planning/others/nishishinjuku set pose .png b/.../tutorials/ad-hoc-simulation/images/planning/others/nishishinjuku set pose .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/parking initial pose.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/parking initial pose.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/parking moving 1.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/parking moving 1.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/parking moving 2.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/parking moving 2.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/pull out scenario.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/pull out scenario.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/start goal pose.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/start goal pose.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic 23.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic 23.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic last .png b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic last .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic light.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic light.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic pannel down .png b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic pannel down .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic publish green .png b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic publish green .png
diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros 1.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros 1.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros 3.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros 3.png
diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/rosbeg 2.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/rosbeg 2.png
diff --git a/...als/ad-hoc-simulation/images/rosbag-replay/third person follwer view rosbag.png b/...als/ad-hoc-simulation/images/rosbag-replay/third person follwer view rosbag.png
diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md
@@ -56,11 +56,25 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autowa
 
     If `~` is used, the map will fail to load.
 
-![after-autoware-launch](images/planning/lane-following/after-autoware-launch.png)
+![after-autoware-launch](https://github.com/vish0012/autoware-documentation/blob/3d3ed61f1a835fba0acc94edc9d46c2de441a260/docs/tutorials/ad-hoc-simulation/images/planning/others/first-overview.png)
+
+If you encounter a situation where the simulation is running but the view is not visible in Autoware like below, please follow these steps:
+
+![after-autoware-launch-error](https://github.com/vish0012/autoware-documentation/blob/27844480495b187cca173191f48a4d9a14ba6c49/docs/tutorials/ad-hoc-simulation/images/planning/others/first%20error%20view.png)
+
+Double-Click on 'TopDownOrtho' View
+Navigate to the Views section on the right panel and double-click on the TopDownOrtho option to properly display the simulation.
+
+Manually Select the View (If Needed)
+If the view still does not appear, try the following:
+
+Go to the Views section.
+Select a different view (e.g., ThirdPersonFollower) and then re-select TopDownOrtho.
+By following these steps, the simulation view should load correctly.
 
 #### 2. Set an initial pose for the ego vehicle
 
-![set-initial-pose](images/planning/lane-following/set-initial-pose.png)
+![set-initial-pose](https://github.com/vish0012/autoware-documentation/blob/3d3ed61f1a835fba0acc94edc9d46c2de441a260/docs/tutorials/ad-hoc-simulation/images/planning/others/After%20Initializing%202D%20Pose.png)
 
 a) Click the `2D Pose estimate` button in the toolbar, or hit the `P` key.
 
@@ -78,7 +92,7 @@ a) Click the `2D Goal Pose` button in the toolbar, or hit the `G` key.
 
 b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. If done correctly, you will see a planned path from initial pose to goal pose.
 
-![set-goal-pose](images/planning/lane-following/set-goal-pose.png)
+![set-goal-pose](https://github.com/vish0012/autoware-documentation/blob/428c5b41b7c4d91cb17275b496627b2eb2fa77cd/docs/tutorials/ad-hoc-simulation/images/planning/others/goal%20pose.png)
 
 #### 4. Start the ego vehicle
 
@@ -92,24 +106,25 @@ ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msg
 
 After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button is grayed out.
 
-![start-driving](images/planning/lane-following/start-driving.png)
+![start-driving](https://github.com/vish0012/autoware-documentation/blob/a8fbf0ea404bed9126256c1a4eb09e9744c6ab35/docs/tutorials/ad-hoc-simulation/images/planning/others/start%20goal%20pose.png)
 
 ### Parking scenario
 
 1. Set an initial pose and a goal pose, and engage the ego vehicle.
 
-   ![after-set-goal-pose](images/planning/parking/after-set-goal-pose.png)
+   ![after-set-goal-pose](https://github.com/vish0012/autoware-documentation/blob/0914e979e43bb257ebcfa5b4c984a7acfb17785e/docs/tutorials/ad-hoc-simulation/images/planning/others/parking%20initial%20pose.png)
 
 2. When the vehicle approaches the goal, it will switch from lane driving mode to parking mode.
 3. After that, the vehicle will reverse into the destination parking spot.
 
-   ![parking-maneuver](images/planning/parking/parking-maneuver.png)
+   ![parking-maneuver](https://github.com/vish0012/autoware-documentation/blob/1bfab84885a0b932d45924ced8ac42bf390364b9/docs/tutorials/ad-hoc-simulation/images/planning/others/parking%20moving%201.png)
+   ![parking-maneuver 2](https://github.com/vish0012/autoware-documentation/blob/1bfab84885a0b932d45924ced8ac42bf390364b9/docs/tutorials/ad-hoc-simulation/images/planning/others/parking%20moving%202.png)
 
 ### Pull out and pull over scenario
 
 1. In a pull out scenario, set the ego vehicle at the road shoulder.
 
-   ![pullover-pullout](images/planning/pullover-pullout/pullover-pullout.jpg)
+   ![pullover-pullout](https://github.com/vish0012/autoware-documentation/blob/3581b0b9b4bbdd680a3e85407fd24ee9a3a4cd3a/docs/tutorials/ad-hoc-simulation/images/planning/others/pull%20out%20scenario.png)
 
 2. Set a goal and then engage the ego vehicle.
 
@@ -131,25 +146,25 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i
    ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/nishishinjuku_autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
    ```
 
-   ![open-nishishinjuku-map](images/planning/lane-change/open-nishishinjuku-map.png)
+   ![open-nishishinjuku-map](https://github.com/vish0012/autoware-documentation/blob/760b51f1b543bdedf7a523ede91aca7f3f446872/docs/tutorials/ad-hoc-simulation/images/planning/others/nishi%20shinjuku%20map%20.png)
 
 3. Set an initial pose and a goal pose in adjacent lanes.
 
-   ![set-position-and-goal](images/planning/lane-change/set-position-and-goal.png)
+   ![set-position-and-goal](https://github.com/vish0012/autoware-documentation/blob/7cc6b96690ae21f933ba329285e8fb1b06d20d7a/docs/tutorials/ad-hoc-simulation/images/planning/others/nishishinjuku%20set%20pose%20.png)
 
 4. Engage the ego vehicle. It will make a lane change along the planned path.
 
-   ![lane-changing](images/planning/lane-change/lane-changing.png)
+   ![lane-changing](https://github.com/vish0012/autoware-documentation/blob/7cc6b96690ae21f933ba329285e8fb1b06d20d7a/docs/tutorials/ad-hoc-simulation/images/planning/others/nishi%20shinjuku%20lane%20change%20.png)
 
 ### Avoidance scenario
 
 1. Set an initial pose and a goal pose in the same lane. A path will be planned.
 
-   ![set-position-and-goal](images/planning/avoidance/set-position-and-goal.png)
+   ![set-position-and-goal](https://github.com/vish0012/autoware-documentation/blob/068fdb362f76b60a44b2c84e1572c0a53747fdb9/docs/tutorials/ad-hoc-simulation/images/planning/others/avoidence%20set%20goal.png)
 
 2. Set a "2D Dummy Bus" on the roadside. A new path will be planned.
 
-   ![set-dummy-bus](images/planning/avoidance/set-dummy-bus.png)
+   ![set-dummy-bus](https://github.com/vish0012/autoware-documentation/blob/65b8b8b6aa0fe5d141b9e33c4e86d581776fb849/docs/tutorials/ad-hoc-simulation/images/planning/others/2d%20dummy%20bus.png)
 
 3. Engage the ego vehicle. It will avoid the obstacle along the newly planned path.
 
@@ -165,19 +180,19 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i
 
    Changes to the `velocity` parameter will only affect objects placed after the parameter is changed.
 
-   ![set-dummy-car](images/planning/lane-following/place-dummy-car.png)
+   ![set-dummy-car](https://github.com/vish0012/autoware-documentation/blob/4176dd22bdbd9220268c23514cb6716c4c3a3f98/docs/tutorials/ad-hoc-simulation/images/planning/others/advacnce%20dumy%20object%20.png)
 
 4. Delete any dummy objects placed in the view by clicking the `Delete All Objects` button in the toolbar.
 
 5. Click the `Interactive` button in the toolbar to make the dummy object interactive.
 
-   ![set-interactive-dummy-car](images/planning/lane-following/check-interactive.png)
+   ![set-interactive-dummy-car](https://github.com/vish0012/autoware-documentation/blob/95f0be14a5291ac8921cdb7ccac2e9c1c55c9b50/docs/tutorials/ad-hoc-simulation/images/planning/others/interactive%20dummy%20.png)
 
 6. For adding an interactive dummy object, press `SHIFT` and click the `right click`.
 7. For deleting an interactive dummy object, press `ALT` and click the `right click`.
 8. For moving an interactive dummy object, hold the `right click` drag and drop the object.
 
-   ![move-interactive-dummy-car](images/planning/lane-following/move-dummy-object.png)
+   ![move-interactive-dummy-car](https://github.com/vish0012/autoware-documentation/blob/51e9413dcc21b3ac3c871d4f0a4e28b78863aacf/docs/tutorials/ad-hoc-simulation/images/planning/others/moving%20interactive%20demo%20.png)
 
 ### Traffic light recognition simulation
 
@@ -192,11 +207,13 @@ The following steps explain how to set and reset traffic lights in order to test
 2. In `TrafficLightPublishPanel`, set the `ID` and color of the traffic light.
 
 3. Click the `SET` button.
-   ![set-traffic-light](images/planning/traffic-light/set-traffic-light.png)
+   ![set-traffic-light](https://github.com/vish0012/autoware-documentation/blob/08e809bf1283e3ac993b405a89c4c411ca4639a6/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%20light.png)
+   Then you can seen down left side
+   ![set-traffics-light 2](https://github.com/vish0012/autoware-documentation/blob/89c8929f870c70b1470a6c9eb5f549342833e7fa/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%20pannel%20down%20.png)
 
 4. Finally, click the `PUBLISH` button to send the traffic light status to the simulator. Any planned path that goes past the selected traffic light will then change accordingly.
 
-![send-traffic-light-color](images/planning/traffic-light/send-traffic-light-color.png)
+![send-traffic-light-color](https://github.com/vish0012/autoware-documentation/blob/637dfac7a5dae71db5ce0be458df98579d27e394/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%2023.png)
 
 By default, Rviz should display the ID of each traffic light on the map. You can have a closer look at the IDs by zooming in the region or by changing the View type.
 
@@ -208,13 +225,13 @@ b) Check the `traffic_light_id` checkbox.
 
 c) Reload the topic by clicking the `Map` checkbox twice.
 
-![see-traffic-light-ID](images/planning/traffic-light/see-traffic-light-ID.png)
+![see-traffic-light-ID](https://github.com/vish0012/autoware-documentation/blob/8cbd6c7c78f224b7bc514fa8f49d276b9883adfc/docs/tutorials/ad-hoc-simulation/images/planning/others/last%2045.png)
 
 #### Update/Reset traffic light
 
 You can update the color of the traffic light by selecting the next color (in the image it is `GREEN`) and clicking `SET` button. In the image the traffic light in front of the ego vehicle changed from `RED` to `GREEN` and the vehicle restarted.
 
-![after-traffic-light-color-update](images/planning/traffic-light/after-traffic-light-color-update.png)
+![after-traffic-light-color-update](https://github.com/vish0012/autoware-documentation/blob/e730cad28f0a4113624f0b3afe300dcee8af454b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%20publish%20green%20.png)
 
 To remove a traffic light from `TrafficLightPublishPanel`, click the `RESET` button.
 

diff --git a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md
@@ -60,7 +60,7 @@
 
     Note that you cannot use `~` instead of `$HOME` here.
 
-    ![after-autoware-launch](images/rosbag-replay/after-autoware-launch.png)
+    ![after-autoware-launch](https://github.com/vish0012/autoware-documentation/blob/45bd22487008b43b674525bebab038d37ab097a6/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros%201.png)
 
     > ⚠️ You might encounter error and warning messages in the terminal before playing the `rosbag`. This is normal behavior. These should cease once the `rosbag` is played and proper initialization takes place
 
@@ -73,15 +73,15 @@
 
     > ⚠️ Due to the discrepancy between the timestamp in the `rosbag` and the current system timestamp, Autoware may generate warning messages in the terminal alerting to this mismatch. This is normal behavior.
 
-    ![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png)
+    ![after-rosbag-play](https://github.com/vish0012/autoware-documentation/blob/a1fe06e30daf6a6e63e112d20d795bed53e3ad66/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/rosbeg%202.png)
 
 3.  To focus the view on the ego vehicle, change the `Target Frame` in the RViz Views panel from `viewer` to `base_link`.
 
-    ![change-target-frame](images/rosbag-replay/change-target-frame.png)
+    ![change-target-frame](https://github.com/vish0012/autoware-documentation/blob/3b7bd4ca1795fbdedd9ffed66ca105c0729762a9/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros%203.png)
 
 4.  To switch the view to `Third Person Follower` etc, change the `Type` in the RViz Views panel.
 
-    ![third-person-follower](images/rosbag-replay/third-person-follower.png)
+    ![third-person-follower](https://github.com/vish0012/autoware-documentation/blob/1b8f76610a8e66204bec887571cc8820c3bfeff1/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/third%20person%20follwer%20view%20rosbag.png)
 
 [Reference video tutorials](https://drive.google.com/file/d/12D6aSC1Y3Kf7STtEPWG5RYynxKdVcPrc/view?usp=sharing)