add lanelet page

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

docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md

@@ -26,3 +26,99 @@ Now, we are ready to create lanelet2 map on our pointcloud map:
 3. Please fill your map name
 4. Please fill your MGRS zone. (At tutorial_vehicle, MGRS grid zone: 35T - MGRS 100,000-meter square: PF)
 5. Click `Create`.
+
+### Creating a simple lanelet
+
+In order to create a simple lanelet on your map, please follow these steps:
+
+1. CLick `Lanelet2Maps` on the bar
+2. Enable Lanelet mode via selecting `Lanelet`.
+3. Then, you can click the pointcloud map to create lanelet.
+4. If your lanelet is finished, you can disable `Lanelet`.
+5. If you want to change your lanelet width, click `lanelet` --> `Change Lanelet Width`, then you can enter the lanelet width.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/183PHi84AeU)
+
+### Join two lanelets
+
+In order to join two lanelets, please follow these steps:
+
+1. Please create two distinct lanelet.
+2. Select a Lanelet, then press `Shift` and select other lanelet.
+3. Now, you can see `Join Lanelets` button, just press it.
+4. These lanelets will be joined.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/_tHilFUKDQc)
+
+### Join Multiple lanelets
+
+In order to add (join) two or more lanelets to another lanelet, please follow these steps:
+
+1. Create multiple lanelets.
+2. You can join the first two lanelets like the steps before.
+3. Please check end points ids of first lanelet.
+4. Then you need to change these ids with third lanelet's start point. (Please change with selecting linestring of lanelet)
+5. You will see two next lanes of the first lanelet will be appeared.
+
+Video Demonstration:
+
+![type:video](https://youtube.com/embed/l5ZnL0Cjmnk)
+
+### Change Speed Limit Of Lanelet
+
+In order to change the speed limit of lanelet, please follow these steps:
+
+1. Select the lanelet where the speed limit will be changed
+2. Set `speed limit` on the right panel.
+
+### Test lanelets with planning simulator
+
+After the completing of creating lanelets, 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 `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
+
+<figure markdown>
+  ![planning-simulator-test](images/planning-simulator-map-test.png){ align=center }
+  <figcaption>
+    Testing our created vector map with planning simulator
+  </figcaption>
+</figure>