add launch sensing packages

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

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

@@ -1,4 +1,5 @@
 nav:
   - index.md
+  - Launch sensing: sensing
   - Launch localization: localization
   - Launch perception: perception

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

@@ -6,7 +6,7 @@ We will explain how to run and launch autoware with these modules:
 - Vehicle
 - System
 - Map
-- Sensing
+- [Sensing](./sensing)
 - [Localization](./localization)
 - [Perception](./perception)
 - Planning

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

@@ -15,14 +15,16 @@ This diagram describes some of the Autoware localization launch files flow at `a
   </figcaption>
 </figure>
 
-The Autoware project is a large project.
-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.
+!!! note
+
+    The Autoware project is a large project.
+    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_localization_component.launch.xml
 

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

@@ -15,14 +15,16 @@ This diagram describes some of the Autoware perception launch files flow at `aut
   </figcaption>
 </figure>
 
-The Autoware project is a large project.
-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.
+!!! note
+
+    The Autoware project is a large project.
+    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
 

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

@@ -0,0 +1,48 @@
+# Sensing Launch Files
+
+## Overview
+
+The Autoware sensing stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_sensing_component.launch.xml`
+for starting sensing launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware sensing launch files flow at `autoware_launch` and `autoware.universe` packages.
+
+<figure markdown>
+  ![sensing-launch-flow](images/sensing_launch_flow.svg){ align=center }
+  <figcaption>
+    Autoware sensing launch flow diagram
+  </figcaption>
+</figure>
+
+!!! note
+
+    The Autoware project is a large project.
+    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.
+
+The sensing launch is more related to your sensor kit,
+so if you want to modify your launch, we recommend applying
+these modifications to the <YOUR-SENSOR-KIT> packages.
+Please look
+at [creating sensor and vehicle model](../../creating-vehicle-and-sensor-description) pages for more information but there
+is are some modifications on which can you done at top-level launch files.
+
+For example, if you do not want to launch the sensor driver with Autoware,
+you can disable it with a command-line argument:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml ... launch_sensing_driver:=false ...
+```
+
+Or you can change it on your `autoware.launch.xml` launch file:
+
+```diff
+- <arg name="launch_sensing_driver" default="true" description="launch sensing driver"/>
++ <arg name="launch_sensing_driver" default="false" description="launch sensing driver"/>
+```