From 1df16fa603e06ac71af30fb583cada11612298c8 Mon Sep 17 00:00:00 2001
From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com>
Date: Thu, 12 Sep 2024 13:08:10 +0300
Subject: [PATCH] docs: add example robosense Bpearl launch (#605)

* add example robosense Bpearl launch

Signed-off-by: ismetatabay <ismet@leodrive.ai

---------

Signed-off-by: ismetatabay <ismet@leodrive.ai>
---
 .../creating-sensor-model/index.md            | 28 ++++++++++++++-----
 1 file changed, 21 insertions(+), 7 deletions(-)

diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
index e0af1c400f3..90afb306dbf 100644
--- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
@@ -474,11 +474,25 @@ but you need to update `sensor_id`, `data_port`, `sensor_frame` and other necess
 
 Please add similar launch groups according to your sensor architecture.
 For example, we use Robosense Lidars for our `tutorial_vehicle`,
-so the lidar group for Robosense Lidar should be like this structure:
+so the lidar group for Robosense Lidar (i.e., for Bpearl) should be like this structure:
 
-!!! warning
-
-    under construction
+```xml
+    <group>
+      <push-ros-namespace namespace="<YOUR-SENSOR-NAMESPACE>"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/robosense_Bpearl.launch.xml">
+        <arg name="max_range" value="30.0"/>
+        <arg name="sensor_frame" value="<YOUR-ROBOSENSE-SENSOR-FRAME>"/>
+        <arg name="sensor_ip" value="<YOUR-ROBOSENSE-SENSOR-IP>"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="<YOUR-ROBOSENSE-SENSOR-DATA-PORT>"/>
+        <arg name="gnss_port" value="<YOUR-ROBOSENSE-SENSOR-GNSS-PORT>"/>
+        <arg name="scan_phase" value="0.0"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+```
 
 If you are using a Hesai lidar (i.e. PandarQT64,
 please check [nebula](https://github.com/tier4/nebula) driver page for supported sensors),
@@ -517,10 +531,10 @@ you can modify the pipeline components like this way:
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
--           plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+-           plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
 -           name="ring_outlier_filter",
-+           plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
++           plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
 +           name="dual_return_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),