add launch sensing page

Signed-off-by: ismetatabay <[email protected]>

Author: ismetatabay

docs/how-to-guides/integrating-autoware/launch-autoware/.pages

@@ -1,5 +1,6 @@
 nav:
   - index.md
+  - Launch vehicle: vehicle
   - Launch sensing: sensing
   - Launch localization: localization
   - Launch perception: perception

docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md

@@ -1,4 +1,4 @@
-# Localization methods
+# Localization Launch Files
 
 ## Overview
 

docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/images/vehicle_launch_flow.svg

@@ -0,0 +1,42 @@
+# Vehicle Launch Files
+
+## Overview
+
+The Autoware vehicle stacks begin launching with autoware_launch.xml as mentioned on the
+[Launch Autoware](../index.md) page,
+and the tier4_vehicle.launch.xml is called in this context. The following diagram describes some of
+the Autoware vehicle launch file flow within the `autoware_launch` and `autoware.universe` packages.
+
+<figure markdown>
+  ![vehicle-launch-flow](images/vehicle_launch_flow.svg){ align=center width=720}
+  <figcaption>
+    Autoware vehicle launch flow diagram
+  </figcaption>
+</figure>
+
+!!! note
+
+    The Autoware project is a large project.
+    Therefore, as we manage the Autoware project, we utilize specific
+    arguments in the launch files.
+    ROS 2 offers an argument-overriding feature for these launch files.
+    Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information.
+    For instance,
+    if we define an argument at the top-level launch,
+    it will override the value on lower-level launches.
+
+We don't have many modification options here, you can disable vehicle_interface launching.
+For example,
+if you want
+to run robot_state_publisher but not `vehicle_interface` you can run autoware with the following command line arguments:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml ... launch_vehicle_interface:=false ...
+```
+
+Or you can change it on your `autoware.launch.xml` launch file:
+
+```diff
+- <arg name="launch_vehicle_interface" default="true" description="launch sensing driver"/>
++ <arg name="launch_vehicle_interface" default="false" description="launch sensing driver"/>
+```