Changed docs to adhere to new markdown linting

doc/02_development/templates/template_wiki_page.md

@@ -16,7 +16,7 @@ Josef Kircher
 
 VSCode Extensions:
 
-* Markdown All in One by Yu Zhang (for TOC)
+- Markdown All in One by Yu Zhang (for TOC)
 
 ---
 
@@ -74,9 +74,9 @@ Ordered List
 ---
 Unordered List
 
-* First item
-* Second item
-* Third item
+- First item
+- Second item
+- Third item
 
 ---
 Code  
@@ -142,10 +142,10 @@ Strikethrough
 
 Task List
 
-* [x] Write the press release
-* [ ] Update the website
+- [x] Write the press release
+- [ ] Update the website
 
-* [ ] Contact the media
+- [ ] Contact the media
 
 ---
 

doc/02_development/templates/template_wiki_page_empty.md

@@ -16,18 +16,20 @@ Josef Kircher
 
 VSCode Extensions:
 
-* Markdown All in One by Yu Zhang (for TOC)
+- Markdown All in One by Yu Zhang (for TOC)
 
 ---
+
 <!-- TOC -->
-* [Title of wiki page](#title-of-wiki-page)
-  * [Author](#author)
-  * [Date](#date)
-  * [Prerequisite](#prerequisite)
-  * [Some Content](#some-content)
-  * [more Content](#more-content)
-    * [Sources](#sources)
+- [Title of wiki page](#title-of-wiki-page)
+  - [Author](#author)
+  - [Date](#date)
+  - [Prerequisite](#prerequisite)
+  - [Some Content](#some-content)
+  - [more Content](#more-content)
+    - [Sources](#sources)
 <!-- TOC -->
+
 ## Some Content
 
 ## more Content

doc/03_research/01_acting/01_basics_acting.md

@@ -19,38 +19,38 @@ Gabriel Schwald, Julian Graf
 
 The job of this domain is to translate a preplanned trajectory into actual steering controls for the vehicle.
 
-* safety:
-  * never exceeding vehicle limits
-  * never exceeding speed limits
-  * never leaf path
-* driving comfort?
+- safety:
+  - never exceeding vehicle limits
+  - never exceeding speed limits
+  - never leaf path
+- driving comfort?
 
 ## Solutions from old PAF projects
 
 ### [Paf 20/1](https://github.com/ll7/psaf1/tree/master/psaf_ros/psaf_steering)
 
-* [carla_ackermann_control](https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/) modified for [twist-msgs](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html)
-* input: [twist-msgs](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html) (for velocity)
-* velocity control: PID
-* lateral control: PD (heading error)
+- [carla_ackermann_control](https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/) modified for [twist-msgs](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html)
+- input: [twist-msgs](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html) (for velocity)
+- velocity control: PID
+- lateral control: PD (heading error)
 
 ### [Paf 21/1](https://github.com/ll7/paf21-1/wiki/Vehicle-Controller)
 
-* input: waypoints
-* curve detection: returns distance to next curve
-* calculation of max curve speed as sqrt(friction_coefficient x gravity_accel x radius)
-* in Curve: [naive Controller](###Pure_Pursuit)
-* on straights: [Stanley Controller](###Stanley)
-* interface to rosbridge
+- input: waypoints
+- curve detection: returns distance to next curve
+- calculation of max curve speed as sqrt(friction_coefficient x gravity_accel x radius)
+- in Curve: [naive Controller](###Pure_Pursuit)
+- on straights: [Stanley Controller](###Stanley)
+- interface to rosbridge
 
 ### [Paf 20/2](https://github.com/ll7/psaf2) and [Paf 21/2](https://github.com/ll7/paf21-2/tree/main/paf_ros/paf_actor#readme)
 
-* input: odometry(position and velocity with uncertainty), local path
-* lateral: [Stanley Controller](###Stanley)
-* speed controller: pid
-* ACC (Adaptive Cruise Control): (speed, distance) -> PID
-* Unstuck-Routine (drive backwards)
-* Emergency Modus: fastest possible braking ([Tests](https://github.com/ll7/paf21-2/blob/main/docs/paf_actor/backwards/braking.md) -> handbrake with throttle, 30° steering and reverse)
+- input: odometry(position and velocity with uncertainty), local path
+- lateral: [Stanley Controller](###Stanley)
+- speed controller: pid
+- ACC (Adaptive Cruise Control): (speed, distance) -> PID
+- Unstuck-Routine (drive backwards)
+- Emergency Modus: fastest possible braking ([Tests](https://github.com/ll7/paf21-2/blob/main/docs/paf_actor/backwards/braking.md) -> handbrake with throttle, 30° steering and reverse)
 
 ## Lateral control
 
@@ -87,11 +87,11 @@ $$
 \delta(t) = arctan(2L*\frac{sin(\alpha)}{K_d*v})
 $$
 
-* simple controller
-* ignores dynamic forces
-* assumes no-slip condition
-* possible improvement: vary the look-ahead distance based on vehicle velocity
-* not really suited for straights, because ICR moves towards infinity this case
+- simple controller
+- ignores dynamic forces
+- assumes no-slip condition
+- possible improvement: vary the look-ahead distance based on vehicle velocity
+- not really suited for straights, because ICR moves towards infinity this case
 
 ### Stanley
 
@@ -118,7 +118,7 @@ The basic idea of MPC is to model the future behavior of the vehicle and compute
 ![MPC Controller](../../00_assets/research_assets/mpc.png)
 *source: [[5]](https://dingyan89.medium.com/three-methods-of-vehicle-lateral-control-pure-pursuit-stanley-and-mpc-db8cc1d32081)*
 
-* cost function can be designed to account for driving comfort
+- cost function can be designed to account for driving comfort
 
 ### [SMC](https://en.wikipedia.org/wiki/Sliding_mode_control) (sliding mode control)
 
@@ -128,10 +128,10 @@ Real implementations of sliding mode control approximate theoretical behavior wi
 ![chattering](../../00_assets/research_assets/chattering.gif)
 *source: [[9]](https://ieeexplore.ieee.org/document/1644542)*
 
-* simple
-* robust
-* stabile
-* disadvantage: chattering -> controller is ill-suited for this application
+- simple
+- robust
+- stabile
+- disadvantage: chattering -> controller is ill-suited for this application
 
 Sources:
 
@@ -155,20 +155,20 @@ PID: already implemented in [ROS](http://wiki.ros.org/pid) (and [CARLA](https://
 
 Further information:
 
-* <https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1996_1/coulter_r_craig_1996_1.pdf>
+- <https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1996_1/coulter_r_craig_1996_1.pdf>
 
 ## Interface
 
 **subscribes** to:
 
-* current position
+- current position
   ([nav_msgs/Odometry Message](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html)) from Perception?
-* path ([nav_msgs/Path Message](https://docs.ros.org/en/api/nav_msgs/html/msg/Path.html)) or target point ([geometry_msgs/Pose.msg](https://docs.ros.org/en/api/geometry_msgs/html/msg/Pose.html))
-* (maximal) velocity to drive
-* (distance and speed of vehicle to follow)
-* (commands for special routines)
-* (Distance to obstacles for turning/min turning radius)
-* (Road conditions)
+- path ([nav_msgs/Path Message](https://docs.ros.org/en/api/nav_msgs/html/msg/Path.html)) or target point ([geometry_msgs/Pose.msg](https://docs.ros.org/en/api/geometry_msgs/html/msg/Pose.html))
+- (maximal) velocity to drive
+- (distance and speed of vehicle to follow)
+- (commands for special routines)
+- (Distance to obstacles for turning/min turning radius)
+- (Road conditions)
 
 **publishes**:
 [CarlaEgoVehicleControl.msg](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehiclecontrolmsg) or [ackermann_msgs/AckermannDrive.msg](https://docs.ros.org/en/api/ackermann_msgs/html/msg/AckermannDrive.html)
@@ -177,10 +177,10 @@ Further information:
 
 In the [CarlaEgoVehicleInfo.msg](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehicleinfomsg) we get a [CarlaEgoVehicleInfoWheel.msg](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehicleinfowheelmsg) which provides us with
 
-* tire_friction (a scalar value that indicates the friction of the wheel)
-* max_steer_angle (the maximum angle in degrees that the wheel can steer)
-* max_brake_torque (the maximum brake torque in Nm)
-* max_handbrake_torque (the maximum handbrake torque in Nm)
+- tire_friction (a scalar value that indicates the friction of the wheel)
+- max_steer_angle (the maximum angle in degrees that the wheel can steer)
+- max_brake_torque (the maximum brake torque in Nm)
+- max_handbrake_torque (the maximum handbrake torque in Nm)
 
 The max curve speed can be calculated as sqrt(**friction_coefficient**  *gravity_accel* curve_radius).
 
@@ -193,12 +193,12 @@ For debugging purposes the vehicles path can be visualized using [carlaviz](http
 
 ## Additional functionality (open for discussion)
 
-* ACC (Adaptive Cruise Control): reduces speed to keep set distance to vehicle in front (see also [cruise control technology review](https://www.sciencedirect.com/science/article/pii/S004579069700013X),
+- ACC (Adaptive Cruise Control): reduces speed to keep set distance to vehicle in front (see also [cruise control technology review](https://www.sciencedirect.com/science/article/pii/S004579069700013X),
 [a comprehensive review of the development of adaptive cruise control systems](https://www.researchgate.net/publication/245309633_A_comprehensive_review_of_the_development_of_adaptive_cruise_control_systems),
 [towards an understanding of adaptive cruise control](https://www.sciencedirect.com/science/article/pii/S0968090X0000022X), [Encyclopedia of Systems and Control](https://dokumen.pub/encyclopedia-of-systems-and-control-2nd-ed-2021-3030441830-9783030441838.html))
-* emergency braking: stops the car as fast as possible
-* emergency braking assistant: uses Lidar as proximity sensor and breaks if it would come to a collision without breaking
-* parallel parking: executes [fixed parking sequence](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5705869) to parallel park vehicle in given parking space
-* U-Turn: performs u-turn
-* Driving backwards: might a need different controller configuration
-* Unstuck routine: performs fixed routine (e.g. driving backwards) if the car hasn't moved in a while
+- emergency braking: stops the car as fast as possible
+- emergency braking assistant: uses Lidar as proximity sensor and breaks if it would come to a collision without breaking
+- parallel parking: executes [fixed parking sequence](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5705869) to parallel park vehicle in given parking space
+- U-Turn: performs u-turn
+- Driving backwards: might a need different controller configuration
+- Unstuck routine: performs fixed routine (e.g. driving backwards) if the car hasn't moved in a while

doc/03_research/01_acting/02_implementation_acting.md

@@ -15,14 +15,14 @@ Gabriel Schwald
 ---
 
 <!-- TOC -->
-* [Requirements and challenges for an acting implementation](#requirements-and-challenges-for-an-acting-implementation)
-  * [Authors](#authors)
-    * [Date](#date)
-  * [Planned basic implementation of the Acting domain](#planned-basic-implementation-of-the-acting-domain)
-  * [List of basic functions](#list-of-basic-functions)
-  * [List of Inputs/Outputs](#list-of-inputsoutputs)
-  * [Challenges](#challenges)
-  * [Next steps](#next-steps)
+- [Requirements and challenges for an acting implementation](#requirements-and-challenges-for-an-acting-implementation)
+  - [Authors](#authors)
+    - [Date](#date)
+  - [Planned basic implementation of the Acting domain](#planned-basic-implementation-of-the-acting-domain)
+  - [List of basic functions](#list-of-basic-functions)
+  - [List of Inputs/Outputs](#list-of-inputsoutputs)
+  - [Challenges](#challenges)
+  - [Next steps](#next-steps)
 <!-- TOC -->
 
 This document sums up all functions already agreed upon in [#24](https://github.com/ll7/paf22/issues/24) regarding [acting](../01_acting/01_acting.md), that could be implemented in the next sprint.
@@ -36,34 +36,34 @@ These goals lead to the following requirements:
 
 ## List of basic functions
 
-* Longitudinal control
-  * PID controller
-* Lateral control
-  * Pure Pursuit controller
-  * Stanley controller
+- Longitudinal control
+  - PID controller
+- Lateral control
+  - Pure Pursuit controller
+  - Stanley controller
 
 ## List of Inputs/Outputs
 
-* Subscribes to:
-  * [nav_msgs/Odometry Message](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) : to get the current position and heading
-  * [nav_msgs/Path Message](https://docs.ros.org/en/api/nav_msgs/html/msg/Path.html) : to get the current trajectory
-  * emergency breaking msg : to initiate emergency breaking
-  * speed limit msg : to get the maximum velocity
-* Publishes:
-  * [CarlaEgoVehicleControl.msg](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehiclecontrolmsg) : to actually control the vehicles throttle, steering, ...
+- Subscribes to:
+  - [nav_msgs/Odometry Message](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) : to get the current position and heading
+  - [nav_msgs/Path Message](https://docs.ros.org/en/api/nav_msgs/html/msg/Path.html) : to get the current trajectory
+  - emergency breaking msg : to initiate emergency breaking
+  - speed limit msg : to get the maximum velocity
+- Publishes:
+  - [CarlaEgoVehicleControl.msg](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaegovehiclecontrolmsg) : to actually control the vehicles throttle, steering, ...
 
 ## Challenges
 
 A short list of challenges for the implementation of a basic acting domain and how they these could be tackled based on the requirements mentioned above.
 
-* The vehicle needs to know its own position => [nav_msgs/Odometry Message](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) or [GNSS](https://carla.readthedocs.io/en/latest/ref_sensors/#gnss-sensor) sensor
-* The vehicle needs to know its own velocity => can be calculated from last/current position and time or the [speedometer](https://leaderboard.carla.org/#map-track) pseudosensor can be used
-* The vehicle needs to know its planned trajectory => [nav_msgs/Path Message](https://docs.ros.org/en/api/nav_msgs/html/msg/Path.html) this trajectory may need to be updated to accommodate obstacles
-* Longitudinal control => a simple PID controller should suffice
-* lateral control => Pure Pursuit as well as Stanley controller should be implemented, following tests can show, where to use each controller.
-* additional features:
-  * emergency breaking => this command is supposed to bypass longitudinal and lateral controllers (and should use the bug discoverd by [paf21-2](https://github.com/ll7/paf21-2/tree/main/paf_ros/paf_actor#bugabuses))
-  * additional functionality mostly should be added here ...
+- The vehicle needs to know its own position => [nav_msgs/Odometry Message](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) or [GNSS](https://carla.readthedocs.io/en/latest/ref_sensors/#gnss-sensor) sensor
+- The vehicle needs to know its own velocity => can be calculated from last/current position and time or the [speedometer](https://leaderboard.carla.org/#map-track) pseudosensor can be used
+- The vehicle needs to know its planned trajectory => [nav_msgs/Path Message](https://docs.ros.org/en/api/nav_msgs/html/msg/Path.html) this trajectory may need to be updated to accommodate obstacles
+- Longitudinal control => a simple PID controller should suffice
+- lateral control => Pure Pursuit as well as Stanley controller should be implemented, following tests can show, where to use each controller.
+- additional features:
+  - emergency breaking => this command is supposed to bypass longitudinal and lateral controllers (and should use the bug discoverd by [paf21-2](https://github.com/ll7/paf21-2/tree/main/paf_ros/paf_actor#bugabuses))
+  - additional functionality mostly should be added here ...
 
 ## Next steps
 

doc/03_research/01_acting/03_paf21_1_acting.md

@@ -2,34 +2,34 @@
 
 ## Inputs
 
-* waypoints of the planned route
-* general odometry of the vehicle
+- waypoints of the planned route
+- general odometry of the vehicle
 
 ## Curve Detection
 
-* Can detect curves on the planned trajectory
-* Calculates the speed in which to drive the detected Curve
+- Can detect curves on the planned trajectory
+- Calculates the speed in which to drive the detected Curve
 ![Curve](../../00_assets/research_assets/curve_detection_paf21_1.png)
 
 ## Speed Control
 
-* [CARLA Ackermann Control](https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/)
-* Speed is forwarded to the CARLA vehicle via Ackermann_message, which already includes a PID controller for safe driving/accelerating etc.
-* no further controlling needed  -> speed can be passed as calculated
+- [CARLA Ackermann Control](https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/)
+- Speed is forwarded to the CARLA vehicle via Ackermann_message, which already includes a PID controller for safe driving/accelerating etc.
+- no further controlling needed  -> speed can be passed as calculated
 
 ## Steering Control
 
 ### Straight Trajectories
 
-* **Stanley Steering Controller**
-  * Calculates steering angle from offset and heading error
-  * includes PID controller
+- **Stanley Steering Controller**
+  - Calculates steering angle from offset and heading error
+  - includes PID controller
  ![Stanley Controller](../../00_assets/research_assets/stanley_paf21_1.png)
 
 ### Detected Curves
 
-* **Naive Steering Controller** (close to pure pursuit)
-  * uses Vehicle Position + Orientation + Waypoints
-    * Calculate direction to drive to as vector
-    * direction - orientation = Steering angle at each point in time
-    * speed is calculated in Curve Detection and taken as is
+- **Naive Steering Controller** (close to pure pursuit)
+  - uses Vehicle Position + Orientation + Waypoints
+    - Calculate direction to drive to as vector
+    - direction - orientation = Steering angle at each point in time
+    - speed is calculated in Curve Detection and taken as is