diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/add_prefab.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/add_prefab.gif new file mode 100644 index 0000000000..036461e153 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/add_prefab.gif differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/index.md b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/index.md new file mode 100644 index 0000000000..13543562c6 --- /dev/null +++ b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/index.md @@ -0,0 +1,24 @@ +# Add V2I + +## 1. Add V2I prefab + +![add prefab](add_prefab.gif) + +## 2. Select EGO transform + +![select ego transform 1](select_ego_transform_1.png) +![select ego transform 2](select_ego_transform_2.gif) +![select ego transform 3](select_ego_transform_3.png) + +## 3. Configure + +Name | Type | Description +------------------------------- | --------- | ----------- +Output Hz | int | Topic publication frequency +Ego Vehicle Transform | transform | Ego Vehicle object transform +Ego Distance To Traffic Signals | double | Maximum distance between Traffic Light and Ego +Traffic Signal ID | enum | Possibility to select if as `traffic_signal_id` field in msg is `Relation ID` or `Way ID` +Traffic Signals Topic | string | Topic name + +!!! note + V2I feature can be used as Traffic Light ground truth information, and for that usage `Way ID` is supposed to be selected. \ No newline at end of file diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_1.png b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_1.png new file mode 100644 index 0000000000..4a31d2c6e8 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_1.png differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_2.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_2.gif new file mode 100644 index 0000000000..50ab828b9b Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_2.gif differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_3.png b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_3.png new file mode 100644 index 0000000000..45a153a1f2 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_3.png differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component.gif new file mode 100644 index 0000000000..0c98c28ca4 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component.gif differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_1.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_1.gif new file mode 100644 index 0000000000..31aedfb20f Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_1.gif differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_2.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_2.gif new file mode 100644 index 0000000000..c242437a78 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_2.gif differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_3.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_3.gif new file mode 100644 index 0000000000..e627ca521d Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_3.gif differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/index.md b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/index.md new file mode 100644 index 0000000000..e3478f7fa3 --- /dev/null +++ b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/index.md @@ -0,0 +1,23 @@ +# Assign Lanelet2 WayID and RelationID to TrafficLight object + +1. Load items from lanelet2 following [the instruction](../../../../DeveloperGuide/Tutorials/AddARandomTraffic/LoadItemsFromLanelet/index.md) + +2. Verify if `Traffic Light Lanelet ID` component has been added to `Traffic Light` game objects. +![verify traffic light lanelet id](verify_traffic_light_lanelet_id.png) + +3. Verify if `WayID` and `RelationID` has been correctly assigned. You can use [Vector Map Builder](https://tools.tier4.jp) as presented below +![verify lanelet ids](verify_lanelet_ids.png) + +## Add manually `Traffic Light Lanelet ID` component + +If for some reason, `Traffic Light Lanelet ID` component is not added to `Traffic Light` object. + +### 1. Add component manually +![add component 1](add_component_1.gif) + +### 2. Fill Way ID +![add component 2](add_component_2.gif) + +### 3. Fill Relation ID +![add component 3](add_component_3.gif) + diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_lanelet_ids.png b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_lanelet_ids.png new file mode 100644 index 0000000000..b1d1ce06d8 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_lanelet_ids.png differ diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_traffic_light_lanelet_id.png b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_traffic_light_lanelet_id.png new file mode 100644 index 0000000000..14cea9c2a0 Binary files /dev/null and b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_traffic_light_lanelet_id.png differ diff --git a/mkdocs.yml b/mkdocs.yml index 4ceac7c80e..7e0a6dc4ac 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -93,6 +93,9 @@ nav: - Load items from lanelet2: DeveloperGuide/Tutorials/AddARandomTraffic/LoadItemsFromLanelet/index.md - Add a RandomTraffic: DeveloperGuide/Tutorials/AddARandomTraffic/AddARandomTrafficSimulatorScript/index.md - Add a TrafficIntersection: DeveloperGuide/Tutorials/AddARandomTraffic/AddATrafficIntersection/index.md + - Add V2I: + - Assign Lanelet2 IDs to TrafficLights: DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/index.md + - Add V2I: DeveloperGuide/Tutorials/AddV2I/AddV2I/index.md - Add a new Vehicle: - Add a Vehicle: DeveloperGuide/Tutorials/AddANewVehicle/index.md - Add Visual Elements: DeveloperGuide/Tutorials/AddANewVehicle/AddVisualElements/index.md