Fix autoware launcher readme. (autowarefoundation#2253)

* Update readme to apply latest profile and split markdown file.

Signed-off-by: Isamu Takagi <[email protected]>

* Update readme files to reflect review.

Signed-off-by: Isamu Takagi <[email protected]>

* Fix indent for numbered list

Signed-off-by: Isamu Takagi <[email protected]>

* Update readme files to reflect review.

Signed-off-by: Isamu Takagi <[email protected]>

* Fix indent for numbered list

Signed-off-by: Isamu Takagi <[email protected]>

* Add description of plugin directories

Signed-off-by: Isamu Takagi <[email protected]>

* Fix typo

Signed-off-by: Isamu Takagi <[email protected]>

* Modify description of plugin directories

Signed-off-by: Isamu Takagi <[email protected]>

* Update description about plguin file directory

Signed-off-by: Isamu Takagi <[email protected]>

ros/src/util/packages/autoware_launcher/README.md

@@ -1,82 +1,17 @@
 # Autoware Launcher
 
-## Quick Start
-1. Put map and rosbag file
-```
-~/.autoware/data/tf/tf.launch
-~/.autoware/data/pointcloud_map/*.pcd
-~/.autoware/data/vector_map/*.csv
-~/.autoware/log/20150324.bag
-```
-1. Start the Autoware Launcher<br>
-```
-$ cd Autoware/ros
-$ ./run-experimental
-```
-![quickstart01](./documents/images/quickstart01.png)
-1. Load a profile if needed<br>
-Window Menu -> File -> Load Profile
-1. Show simulation panel<br>
-Window Menu -> View -> Simulation
-1. Play rosbag<br>
-Swtich on Simulation Mode check box, then, push Play button.
-1. Push launch buttons<br>
-Map, Vehicle, Sensing, and Visualization
-![quickstart02](./documents/images/quickstart02.png)
-1. Push Localization button on rviz plugin and check the estimated vehicle pose
-![quickstart03](./documents/images/quickstart03.png)
-1. Push other buttons on rviz plugin<br>
-Detection, Prediction, Decision, Mission, and Motion
-![quickstart04](./documents/images/quickstart04.png)
-![quickstart05](./documents/images/quickstart05.png)
+Autoware Launcher is designed to help users and developers to launch sets of nodes and its parameters. Sets are stored in profile files (in YAML format) that can be shared with other users, or used to quickly launch different set-ups.
 
+![autoware_launcher_1](./documents/demos/images/rosbag02.png)
+![autoware_launcher_2](./documents/demos/images/rosbag05.png)
 
-## Develop
-Develop mode is under development and very unstable (Window Menu -> View -> Develop Mode).<br>
-![develop](./documents/images/develop.png)
+## Demos
 
-NOTICE
-* On treeview widget, R key is run, T key is terminate.
-* On summary panel, I key initialize the parameters to default.
-* Use "save as" instead of "save".
-* Choose .launch file when you save/load profile.
+* [Rosbag Demo](./documents/demos/rosbag.md)
 
-## Plugins
-If you want to use your launch file. Create the plugin file.
-* [Plugin File Format](./documents/plugin/format.md).
+## Develop
 
-For example, you can add ndt matching as following.
-1. Create plugin file template by text editor (e.g. autoware_launcher/plugins/refs/ndt_matching.yaml)
-```
-    format: Autoware Launcher Plugin Version 0.1
-    rosxml: $(find lidar_localizer)/launch/ndt_matching.launch
-```
-1. Launch plugin file generate tool<br>
-`rosrun autoware_launcher tool refs/ndt_matching`
-1. Set type and default value<br>
-![plugin_tool](./documents/images/plugin_tool.png)
-1. Push export button. The tool will set the text to clipboard. Paste it to yaml file.<br>
-```
-    format: Autoware Launcher Plugin Version 0.1
-    rosxml: $(find lidar_localizer)/launch/ndt_matching.launch
-    args:
-    - {name: method_type, type: int, default: 0}
-    - {name: use_gnss, type: int, default: 1}
-    - {name: use_odom, type: bool, default: false}
-    ...
-    panel:
-      widget: node.panel
-      frames:
-      - {target: args.method_type, widget: basic.int}
-      - {target: args.use_gnss, widget: basic.int}
-      - {target: args.use_odom, widget: basic.bool}
-      ...
-```
-1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/node/localization.yaml).
-```
-    format: Autoware Launcher Plugin Version 0.1
-    rules:
-    - { name: downsampler,      plugin: leaf/voxel_grid_filter  }
-    - { name: localizer,        plugin: refs/ndt_matching }
-    - { name: vel_pose_connect, plugin: refs/vel_pose_connect }
-```
+Developer mode contains advanced features that allow to customize the profiles. However, this mode is still under heavy development and not widely tested. Please be advised of its instability while using it.
+* [Developer Mode](./documents/dev/devmode.md)
+* [Create Plugin File](./documents/plugin/create.md)
+* [Plugin File Format](./documents/plugin/format.md)

ros/src/util/packages/autoware_launcher/documents/demos/rosbag.md

@@ -0,0 +1,38 @@
+# Rosbag Demo
+
+## Example Data
+1. Download the following files from https://drive.google.com/open?id=1ZwNQIJolJ2ogzpNprh89jCj6NocLi78f.<br>
+    * sample_moriyama_data.tar.gz
+    * sample_moriyama_150324.tar.gz
+1. Create the `.autoware` directory in your home directory.<br>
+1. Inside this, extract the previously downloaded files.<br>
+
+    ```
+    ~/.autoware/data/tf/tf.launch
+    ~/.autoware/data/map/pointcloud_map/*.pcd
+    ~/.autoware/data/map/vector_map/*.csv
+    ~/.autoware/sample_moriyama_150324.bag
+    ```
+
+## Demo Run
+1. Start the Autoware Launcher.<br>
+
+    ```
+    $ cd Autoware/ros
+    $ ./run-experimental
+    ```
+    ![rosbag01](./images/rosbag01.png)
+
+1. If you previously created a profile, you can load it selecting *Load Profile* from the *File* menu.<br>
+1. Open the simulation panel selecting *Simulation* from the *View* menu.<br>
+1. To play the rosbag, click the *Simulation Mode* check box,<br>
+1. Press the *Browse* Button, and select the previously downloaded example rosbag.<br>
+1. Once loaded, press the *Play* button<br>
+1. Press the buttons labeled as *Launch* to the right of the "Map", "Vehicle", "Sensing", and "Visualization" sections.<br>
+    ![rosbag02](./images/rosbag02.png)
+1. Select "Localization" button on rviz plugin and check the estimated vehicle pose.<br>
+    ![rosbag03](./images/rosbag03.png)
+1. Select "Detection" and "Prediction" buttons on rviz plugin.<br>
+    ![rosbag04](./images/rosbag04.png)
+1. Select "Decision", "Mission", and "Motion" buttons on rviz plugin.<br>
+    ![rosbag05](./images/rosbag05.png)

ros/src/util/packages/autoware_launcher/documents/dev/devmode.md

@@ -0,0 +1,11 @@
+# Developer Mode
+
+Developer Mode can be enabled selecting *Develop Mode* from the *View* menu.<br>
+![devmode](./devmode.png)
+
+## NOTICE
+* The *Save Profile* button from the *File* menu does not work. Please use instead the *Save Profile As* button.
+
+## Useful shortcuts
+* While on the treeview widget on *Developer mode*. `R` key will launch the selected item, while `T` will terminate it.
+* While on the Summary panel. The`I` key will reset the parameters to its default.

ros/src/util/packages/autoware_launcher/documents/plugin/create.md

@@ -0,0 +1,61 @@
+
+## Create Plugin File
+
+If you want to use your launch file. Create the plugin file. For example, you can add ndt matching as following.<br>
+
+1. Create a text file located in `autoware_launcher/plugins/refs/ndt_matching.yaml` containing the following text:<br>
+
+    ```
+    format: Autoware Launcher Plugin Version 0.1
+    rosxml: $(find lidar_localizer)/launch/ndt_matching.launch
+    ```
+
+1. To launch the newly created plugin file, execute in a sourced terminal:<br>
+    `rosrun autoware_launcher tool refs/ndt_matching`
+
+1. Set type and default value.<br>
+    ![plugin_tool](./plugin_tool.png)
+
+1. Once configuration is set, press the *Export* button below. This will copy the configuration to the clipboard. Open again the plugin file and paste the new configuration.<br>
+
+    ```
+    format: Autoware Launcher Plugin Version 0.1
+    rosxml: $(find lidar_localizer)/launch/ndt_matching.launch
+    args:
+    - {name: method_type, type: int, default: 0}
+    - {name: use_gnss, type: int, default: 1}
+    - {name: use_odom, type: bool, default: false}
+    ...
+    panel:
+      widget: node.panel
+      frames:
+      - {target: args.method_type, widget: basic.int}
+      - {target: args.use_gnss, widget: basic.int}
+      - {target: args.use_odom, widget: basic.bool}
+      ...
+    ```
+
+1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/node/localization.yaml).
+
+    ```
+    format: Autoware Launcher Plugin Version 0.1
+    rules:
+    - { name: downsampler,      plugin: leaf/voxel_grid_filter  }
+    - { name: localizer,        plugin: refs/ndt_matching }
+    - { name: vel_pose_connect, plugin: refs/vel_pose_connect }
+    ```
+
+## Plugin File Directories
+
+The subdirectories contained under the `plugins` directory have the following applications:
+
+| Directory | Description |
+|-----------|-------------|
+| root | Contains the first level entries of the sub-tree. These might be either `node` (another subtree), or `leaf` (final entry)  |
+| node | Contains the entries for plugin tree node files (another plugin tree node or leaf) |
+| leaf | Contains the plugin leaf files (entries calling a ros launch file contained in the same directory) |
+| refs | Contains plugin leaf files referencing entries on other packages (entries calling launch files contained in other package in the workspace) |
+
+Autoware Launcher constructs a plugin tree from the file under the `root` subdirectory.
+Files other than root can be placed anywhere under the `plugins` directory.
+It is recommended to follow this table for maintainability.