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merged 2 commits into from
Sep 20, 2024
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fix: update github link #614

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99cb20b
fix github link
a-maumau Sep 19, 2024
1c8dcad
Merge branch 'main' into mau/fix/fix_broken_link
a-maumau Sep 20, 2024
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4 changes: 2 additions & 2 deletions docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md
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Expand Up @@ -59,7 +59,7 @@ The current localization launcher implemented by TIER IV supports multiple local

- **`twist_source:`** This argument specifies the twist_estimator, currently supporting `gyro_odom` (default), and `eagleye`.
By default,
Autoware launches [gyro_odometer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/gyro_odometer) for twist estimator.
Autoware launches [gyro_odometer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_gyro_odometer) for twist estimator.
Also, you can use eagleye for the twist source, please refer to the [Eagleye](./eagleye/index.md).
If you want to change your twist source to eagleye, you can update `tier4_localization_component.launch.xml` like:

Expand All @@ -76,7 +76,7 @@ The current localization launcher implemented by TIER IV supports multiple local

- **`input_pointcloud:`** This argument specifies the input pointcloud of the localization pointcloud pipeline. The default value is
`/sensing/lidar/top/outlier_filtered/pointcloud` which
is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/) pipeline from sensing.
is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware.universe/main/sensing/autoware_pointcloud_preprocessor/) pipeline from sensing.
You can change this value according to your LiDAR topic name,
or you can choose to use concatenated point cloud:

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4 changes: 2 additions & 2 deletions ...w-to-guides/others/an-example-procedure-for-adding-and-evaluating-a-new-node.md
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Expand Up @@ -42,7 +42,7 @@ It is advisable to thoroughly read the [Design page](https://autowarefoundation.
For example, a node doing NDT, a LiDAR-based localization method, is [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_ndt_scan_matcher).
If you want to replace this with a different approach, implement a node which produces the same topics and provides the same services.

`ndt_scan_matcher` is launched as [pose_estimator](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml), so it is necessary to replace the launch file as well.
`ndt_scan_matcher` is launched as [pose_estimator](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml), so it is necessary to replace the launch file as well.

## 4. Evaluating by a rosbag-based simulator

Expand All @@ -67,7 +67,7 @@ Once you have sufficiently verified the behavior in the logging_simulator, let's
To debug Autoware, the method described at [debug-autoware](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/others/debug-autoware/) is useful.

For reproducibility, you may want to fix the GoalPose.
In such cases, consider using the [tier4_automatic_goal_rviz_plugin](https://github.com/autowarefoundation/autoware.universe/tree/main/common/tier4_automatic_goal_rviz_plugin).
In such cases, consider using the [tier4_automatic_goal_rviz_plugin](https://github.com/autowarefoundation/autoware_tools/tree/main/common/tier4_automatic_goal_rviz_plugin).

## 6. Sharing the results

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