RobotecAI · lchojnack · Aug 17, 2023 · Aug 17, 2023 · dmoszynski · Aug 18, 2023
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/add_prefab.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/add_prefab.gif
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/index.md 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.
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_1.png b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_1.png
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_2.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_2.gif
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_3.png b/docs/DeveloperGuide/Tutorials/AddV2I/AddV2I/select_ego_transform_3.png
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component.gif
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_1.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_1.gif
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_2.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_2.gif
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_3.gif b/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/add_component_3.gif
diff --git a/docs/DeveloperGuide/Tutorials/AddV2I/AssignLaneletIDs/index.md 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
diff --git a/...operGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_traffic_light_lanelet_id.png b/...operGuide/Tutorials/AddV2I/AssignLaneletIDs/verify_traffic_light_lanelet_id.png
diff --git 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