Merge pull request #325 from una-auxme/275-feature-rework-documentati…

…on-add-getting-started-document

275 feature rework documentation add getting started document

.flake8

@@ -3,5 +3,5 @@ exclude= code/planning/src/behavior_agent/behavior_tree.py,
          code/planning/src/behavior_agent/behaviours/__init__.py,
          code/planning/src/behavior_agent/behaviours,
          code/planning/__init__.py,
-         doc/02_development/templates/template_class_no_comments.py,
-         doc/02_development/templates/template_class.py
+         doc/development/templates/template_class_no_comments.py,
+         doc/development/templates/template_class.py

README.md

@@ -1,6 +1,6 @@
 # Praktikum Autonomes Fahren - PAF
 
-This repository contains the source code for the "Praktikum Autonomes Fahren" at the Chair of Mechatronics from the University of Augsburg in the winter semester of 2023/2024.
+This repository contains the source code for the "Praktikum Autonomes Fahren" at the Chair of Mechatronics from the University of Augsburg.
 The goal of the project is to develop a self-driving car that can navigate through a simulated environment.
 The project is based on the [CARLA simulator](https://carla.org/) and uses the [ROS](https://www.ros.org/) framework for communication between the different components.
 In the future, the project aims to contribute to the [CARLA Autonomous Driving Challenge](https://leaderboard.carla.org/challenge/).
@@ -21,18 +21,22 @@ To be able to execute and develop the project, you need a Linux system equipped
 
 As the project is still in early development, these requirements are subject to change.
 
-## Installation
+## Getting started
+
+### Installation
 
 To run the project you have to install [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support,
 [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
 `docker` and `nvidia-docker` are used to run the project in a containerized environment with GPU support.
 
-More detailed instructions about setup and execution can be found [here](./doc/01_general/Readme.md).
+More detailed instructions about the setup can be found [here](./doc/general/installation.md).
 
 ## Development
 
-If you contribute to this project please read the guidelines first. They can be found [here](./doc/02_development/Readme.md).
+To get an overview of the current architecture of the agent you can look at the general documentation [here](./doc/general/architecture.md). The individual components are explained in the README files of their subfolders.
+
+If you contribute to this project please read the guidelines first. They can be found [here](./doc/development/README.md).
 
 ## Research
 
-The research on existing projects we did can be found [here](./doc/03_research/Readme.md).
+The research on existing projects we did can be found [here](./doc/research/README.md).

code/perception/src/coordinate_transformation.py

@@ -118,7 +118,7 @@ def ecef_to_enu(x, y, z, lat0, lon0, h0):
 def quat_to_heading(quaternion):
     """
     Converts a quaternion to a heading of the car in radians
-    (see ../../doc/06_perception/00_coordinate_transformation.md)
+    (see ../../doc/perception/coordinate_transformation.md)
     :param quaternion: quaternion of the car as a list [q.x, q.y, q.z, q.w]
                        where q is the quaternion
     :return: heading of the car in radians (float)

code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py → code/perception/src/experiments/Position_Heading_Datasets/viz.py

@@ -4,7 +4,7 @@
 
 """
 The documentation on how to use this file can be found in
-docs/perception/07_perception_heading_filter_debug_node.md
+docs/perception/perception_heading_filter_debug_node.md
 since it is used to visualize the data of the heading filter debug node.
 """
 

code/perception/src/kalman_filter.py

@@ -18,7 +18,7 @@
 
 '''
 For more information see the documentation in:
-../../doc/06_perception/08_kalman_filter.md
+../../doc/perception/kalman_filter.md
 
 This class implements a Kalman filter for a 3D object tracked in 2D space.
 It implements the data of the IMU and the GPS Sensors.
@@ -75,7 +75,7 @@ class KalmanFilter(CompatibleNode):
     This class implements a Kalman filter for the
     Heading and Position of the car.
     For more information see the documentation in:
-    ../../doc/06_perception/08_kalman_filter.md
+    ../../doc/perception/kalman_filter.md
     """
     def __init__(self):
         """

code/perception/src/lidar_distance.py

@@ -12,7 +12,7 @@
 
 
 class LidarDistance():
-    """ See doc/06_perception/03_lidar_distance_utility.md on
+    """ See doc/perception/lidar_distance_utility.md on
         how to configute this node
     """
 

code/perception/src/position_heading_filter_debug_node.py

@@ -189,7 +189,7 @@ def save_position_data(self):
         """
         This method saves the current location errors in a csv file.
         in the folders of
-        paf/doc/06_perception/00_Experiments/kalman_datasets
+        paf/doc/perception/experiments/kalman_datasets
         It does this for a limited amount of time.
         """
         # stop saving data when max is reached
@@ -199,7 +199,7 @@ def save_position_data(self):
 
         # Specify the path to the folder where you want to save the data
         base_path = ('/workspace/code/perception/'
-                     'src/00_Experiments/' + FOLDER_PATH)
+                     'src/experiments/' + FOLDER_PATH)
         folder_path_x = base_path + '/x_error'
         folder_path_y = base_path + '/y_error'
         # Ensure the directories exist
@@ -222,7 +222,7 @@ def save_heading_data(self):
         """
         This method saves the current heading errors in a csv file.
         in the folders of
-        paf/doc/06_perception/00_Experiments/kalman_datasets
+        paf/doc/perception/experiments/kalman_datasets
         It does this for a limited amount of time.
         """
         # if rospy.get_time() > 45 stop saving data:
@@ -232,7 +232,7 @@ def save_heading_data(self):
 
         # Specify the path to the folder where you want to save the data
         base_path = ('/workspace/code/perception/'
-                     'src/00_Experiments' + FOLDER_PATH)
+                     'src/experiments' + FOLDER_PATH)
         folder_path_heading = base_path + '/heading_error'
 
         # Ensure the directories exist

code/perception/src/position_heading_publisher_node.py

@@ -36,7 +36,7 @@ class PositionHeadingPublisherNode(CompatibleNode):
     must be added in the constructor for clean modular programming!
 
     For more information:
-    ../../doc/06_perception/09_position_heading_publisher_node.md
+    ../../doc/perception/position_heading_publisher_node.md
     """
 
     def __init__(self):

code/perception/src/traffic_light_detection/Readme.md

@@ -1,7 +1,7 @@
 # Traffic light detection
 
 The training is configured as DVC experiment.
-More details about dvc experiments can be found [here](../../../../doc/02_development/11_dvc.md).
+More details about dvc experiments can be found [here](../../../../doc/development/dvc.md).
 
 ## Training
 

code/planning/src/behavior_agent/behaviours/maneuvers.py

@@ -405,7 +405,7 @@ class UnstuckRoutine(py_trees.behaviour.Behaviour):
 
     """
     Documentation to this behavior can be found in
-    /doc/07_planning/Behavior_detailed.md
+    /doc/planning/Behavior_detailed.md
 
     This behavior is triggered when the vehicle is stuck and needs to be
     unstuck. The behavior will then try to reverse and steer to the left or