add launch map page

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

asd

Author: ismetatabay

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

@@ -2,6 +2,7 @@ nav:
   - index.md
   - Launch vehicle: vehicle
   - Launch system: system
+  - Launch map: map
   - Launch sensing: sensing
   - Launch localization: localization
   - Launch perception: perception

docs/how-to-guides/integrating-autoware/launch-autoware/map/images/map_launch_flow.svg

@@ -0,0 +1,42 @@
+# Map Launch Files
+
+## Overview
+
+The Autoware map stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_map_component.launch.xml`
+for starting map launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware map launch files flow at `autoware_launch`
+and `autoware.universe` packages.
+
+<figure markdown>
+  ![map-launch-flow](images/map_launch_flow.svg){ align=center }
+  <figcaption>
+    Autoware map launch flow diagram
+  </figcaption>
+</figure>
+
+The map.launch.py launch file from the tier4_map_launch package directly includes
+the necessary node definitions for mapping. In the current design of Autoware, the `lanelet2_map_loader`,
+`lanelet2_map_visualization`, `pointcloud_map_loader`, and `vector_map_tf_generator` composable
+nodes are included in the `map_container`.
+
+We don't have many modification options in the map launching files
+(as the parameters are included in the config files).
+However, you can specify the names for your pointcloud and lanelet2 map during the launch
+(the default values are pointcloud_map.pcd and lanelet2_map.osm).
+For instance, if you wish to change your map file names, you can run Autoware using
+the following command line arguments:
+
+```bash
+ros2 launch autoware_launch autoware.launch.xml ... pointcloud_map_file:=<YOUR-PCD-FILE-NAME> lanelet2_map_file:=<YOUR-LANELET2-MAP-NAME> ...
+```
+
+Or you can change it on your `autoware.launch.xml` launch file:
+
+```diff
+- <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
++ <arg name="lanelet2_map_file" default="<YOUR-LANELET2-MAP-NAME>" description="lanelet2 map file name"/>
+- <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
++ <arg name="pointcloud_map_file" default="<YOUR-PCD-FILE-NAME>" description="pointcloud map file name"/>
+```

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

@@ -39,11 +39,11 @@ the `system.launch.xml` from the `tier4_system_launch` package directly launches
 - [mrm_emergency_stop_operator](https://autowarefoundation.github.io/autoware.universe/main/system/mrm_emergency_stop_operator/)
 - [dummy_diag_publisher](https://autowarefoundation.github.io/autoware.universe/main/system/dummy_diag_publisher/)
 
-We don't have many modification options here,
-but you can change your system_error_monitor parameter file path.
-For example,
-you can run autoware with the following command line arguments
-if you want to change your system_error_monitor.param.yaml file path:
+We don't have many modification options in the system launching files
+(as the parameters are included in config files),
+but you can modify the file path for the system_error_monitor parameter.
+For instance, if you want to change the path for your system_error_monitor.param.yaml file,
+you can run Autoware with the following command line argument:
 
 ```bash
 ros2 launch autoware_launch autoware.launch.xml ... system_error_monitor_param_path:=<YOUR-SYSTEM-ERROR-PARAM-PATH> ...

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

@@ -25,10 +25,11 @@ the Autoware vehicle launch file flow within the `autoware_launch` and `autoware
     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, but 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:
+We don't have many modification options in the vehicle launching files
+(as the parameters are included in the vehicle_launch repository),
+but you can choose to disable the vehicle_interface launch.
+For instance, if you want to run robot_state_publisher but not vehicle_interface,
+you can launch Autoware with the following command line arguments:
 
 ```bash
 ros2 launch autoware_launch autoware.launch.xml ... launch_vehicle_interface:=false ...