init detection area

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

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

@@ -2,6 +2,7 @@ nav:
   - index.md
   - Lanelet 2: lanelet2
   - Crosswalk: crosswalk
-  - Stop Line: stop-line
+  - Stop line: stop-line
   - Traffic light: traffic-light
   - Speed bump: speed-bump
+  - Detection area: detection-area

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

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

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

@@ -0,0 +1,76 @@
+# Detection area element
+
+Behavior velocity planner's [detection area](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/) plans velocity
+when if pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point.
+In order to operate that, we will add a detection area element to our lanelet2 map.
+
+## Creating a detection area element
+
+In order to create a detection area on your map, please follow these steps:
+
+1. Click `Lanelet2Maps` button on top panel.
+2. Select `Detection Area` from the panel.
+3. Please select lanelet which stop line to be added.
+4. Click and insert `Detection Area` on your pointcloud map.
+5. You can change the dimensions of the detection area with clicking points on the corners of the detection area. For more information, you can check the demonstration video.
+
+You can see these steps in the detection area creating demonstration video:
+
+![type:video](https://youtube.com/embed/RUJvXok-ncQ)
+
+### Testing created detection area 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 `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
+3. We need to add pedestrians to detection area, so activate interactive pedestrians from `Tool Properties` panel on rviz.
+4. After that, please press `Shift`, then click right click button for inserting pedestrians.
+5. You can control inserted pedestrian via dragging right click. So, you should put pedestrian on the detection area for testing.
+
+Stop detection area on rviz:
+
+<figure markdown>
+  ![detection-area-test](images/detection-area-test.png){ align=center }
+  <figcaption>
+    Detection area test on the created map.
+  </figcaption>
+</figure>
+
+You can check your detection area elements in the planning simulator as this demonstration video:
+
+![type:video](https://youtube.com/embed/zjfPnRIz8Xk)

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

@@ -16,9 +16,11 @@ So, if you have not before, please [create a TIER IV account](https://account.ti
 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.
+You can follow these pages for creating a Lanelet2 map and understanding its regulatory elements.
 
 - [Lanelet 2](./lanelet2)
 - [Crosswalk](./crosswalk)
 - [Stop Line](./stop-line)
 - [Traffic Light](./traffic-light)
+- [Speed Bump](./speed-bump)
+- [Detection Area](./detection-area)