Tiled image

Signed-off-by: Zulfaqar Azmi <[email protected]>

planning/behavior_path_planner/README.md

@@ -8,13 +8,11 @@ The `behavior_path_planner` module is responsible to generate
 2. **drivable area** that the vehicle can move (defined in the path msg),
 3. **turn signal** command to be sent to the vehicle interface.
 
-## Design
+## Features
 
-### Scene modules design
+### Supported Scene Modules
 
-#### Support modules
-
-Behavior path planner has following scene modules.
+Behavior Path Planner has following scene modules.
 
 | Name                     | Description                                                                                                                                                                | Details                                                                 |
 | :----------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------- |
@@ -28,17 +26,27 @@ Behavior path planner has following scene modules.
 | Goal Planner             | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md)            |
 | Side Shift               | (for remote control) shift the path to left or right according to an external instruction.                                                                                 | [LINK](./docs/behavior_path_planner_side_shift_design.md)               |
 
-![behavior_modules](./image/behavior_modules.svg)
-
-All scene modules are implemented by inheriting base class `scene_module_interface.hpp`.
+<table>
+  <tr>
+    <td><img src="./supported_module_lane_following.svg" alt="Lane Following Module" width="300"></td>
+    <td><a href="https://www.youtube.com/watch?v=A_V9yvfKZ4E"><img src="./supported_module_avoidance.svg" alt="Avoidance Module" width="300"></a></td>
+    <td><img src="./supported_module_avoidance_by_lane_change.svg" alt="Avoidance by Lane Change Module" width="300"></td>
+  </tr>
+  <tr>
+    <td><a href="https://www.youtube.com/watch?v=0jRDGQ84cD4"><img src="./supported_module_lane_change.svg" alt="Lane Change Module" width="300"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=xOjnPqoHup4"><img src="./supported_module_start_planner.svg" alt="Start Planner Module" width="300"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ornbzkWxRWU"><img src="./supported_module_goal_planner.svg" alt="Goal Planner Module" width="300"></a></td>
+  </tr>
+</table>
 
-#### How to implement new module?
+Users can refer to [Planning component design](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/#supported-functions) for some additional behavior.
 
-WIP
+#### How to add or implement new module?
 
----
+All scene modules are implemented by inheriting base class `scene_module_interface.hpp`.
+The remainder of this subsection is work in progress (WIP).
 
-### Planner Manager design
+### Planner Manager
 
 The Planner Manager's responsibilities include:
 
@@ -70,14 +78,15 @@ For more in-depth information, refer to [Manager design](https://autowarefoundat
 
 ### Output
 
-| Name                        | Type                                                     | Description                                                                                    |
-| :-------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- |
-| ~/input/path                | `autoware_auto_planning_msgs::msg::PathWithLaneId`       | the path generated by modules.                                                                 |
-| ~/input/path_candidate      | `autoware_auto_planning_msgs::msg::Path`                 | the path the module is about to take. to be executed as soon as external approval is obtained. |
-| ~/input/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command.                                                                       |
-| ~/input/hazard_lights_cmd   | `tier4_planning_msgs::msg::PathChangeModuleArray`        | hazard lights command.                                                                         |
-| ~/input/ready_module        | `tier4_planning_msgs::msg::PathChangeModule`             | (for remote control) modules that are ready to be executed.                                    |
-| ~/input/running_modules     | `tier4_planning_msgs::msg::PathChangeModuleArray`        | (for remote control) current running module.                                                   |
+| Name                         | Type                                                     | Description                                                                                    | QoS |
+| :--------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | --- |
+| ~/output/path                | `autoware_auto_planning_msgs::msg::PathWithLaneId`       | the path generated by modules.                                                                 |     |
+| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command.                                                                       |     |
+| ~/output/hazard_lights_cmd   | `tier4_planning_msgs::msg::PathChangeModuleArray`        | hazard lights command.                                                                         |     |
+| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command.                                                                       |     |
+| ~/output/path_candidate      | `autoware_auto_planning_msgs::msg::Path`                 | the path the module is about to take. to be executed as soon as external approval is obtained. |     |
+| ~/output/ready_module        | `tier4_planning_msgs::msg::PathChangeModule`             | (for remote control) modules that are ready to be executed.                                    |     |
+| ~/output/running_modules     | `tier4_planning_msgs::msg::PathChangeModuleArray`        | (for remote control) current running module.                                                   |     |
 
 ## General features of behavior path planner