add launch localization page

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

Author: ismetatabay

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

@@ -1,4 +1,4 @@
 nav:
   - index.md
-  - Localization methods: localization-methods
+  - Launch localization: localization
   - Launch perception: perception

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

@@ -7,7 +7,7 @@ We will explain how to run and launch autoware with these modules:
 - System
 - Map
 - Sensing
-- Localization
+- [Localization](./localization)
 - [Perception](./perception)
 - Planning
 - Control

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

@@ -0,0 +1,96 @@
+# Localization methods
+
+## Overview
+
+The Autoware localization stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_localization_component.launch.xml`
+for starting localization launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware localization launch files flow at `autoware_launch` and `autoware.universe` packages.
+
+<figure markdown>
+  ![localization-launch-flow](images/localization_launch_flow.svg){ align=center }
+  <figcaption>
+    Autoware localization launch flow diagram
+  </figcaption>
+</figure>
+
+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.
+
+## tier4_localization_component.launch.xml
+
+The `tier4_localization_component.launch.xml` launch file is the main localization component launch at the `autoware_launch` package.
+This launch file calls `localization.launch.xml` at [tier4_localization_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_localization_launch) package from `autoware.universe` repository.
+We can modify perception launch arguments at tier4_perception_component.launch.xml.
+
+The current localization launcher implemented by TIER IV supports multiple localization methods, both pose estimators and twist estimators.
+`tier4_localization_component.launch.xml` has two arguments to select which estimators to launch:
+
+- **`pose_source:`** This argument specifies the pose_estimator, currently supporting `ndt` (default), `yabloc`, `artag` and `eagleye` for localization.
+  By default, Autoware launches [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher) for pose estimator.
+  You can use YabLoc as a camera-based localization method.
+  For more details on YabLoc,
+  please refer to the [README of YabLoc](https://github.com/autowarefoundation/autoware.universe/blob/main/localization/yabloc/README.md) in autoware.universe.
+  Also, you can use Eagleye as a GNSS & IMU & wheel odometry-based localization method. For more details on Eagleye, please refer to the [Eagleye](./eagleye).
+
+  You can set `pose_source` argument on `tier4_localization_component.launch.xml`,
+  for example, if you want to use eagleye as pose_source,
+  you need to update `tier4_localization_component.launch.xml` like:
+
+  ```diff
+  - <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
+  + <arg name="pose_source" default="eagleye" description="select pose_estimator: ndt, yabloc, eagleye"/>
+  ```
+
+  Also, you can use command-line for overriding launch arguments:
+
+  ```bash
+  ros2 launch autoware_launch autoware.launch.xml ... pose_source:=eagleye
+  ```
+
+- **`twist_source:`** This argument specifies the twist_estimator, currently supporting `gyro_odom` (default), and `eagleye`.
+  By default,
+  Autoware launches [gyro_odometer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/gyro_odometer) for twist estimator.
+  Also, you can use eagleye for the twist source, please refer to the [Eagleye](./eagleye).
+  If you want to change your twist source to eagleye, you can update `tier4_localization_component.launch.xml` like:
+
+  ```diff
+  - <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
+  + <arg name="twist_source" default="eagleye" description="select twist_estimator. gyro_odom, eagleye"/>
+  ```
+
+  Or you can use command-line for overriding launch arguments:
+
+  ```bash
+  ros2 launch autoware_launch autoware.launch.xml ... twist_source:=eagleye
+  ```
+
+- **`input_pointcloud:`** This argument specifies the input pointcloud of the localization pointcloud pipeline. The default value is
+  `/sensing/lidar/top/outlier_filtered/pointcloud` which
+  is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/) pipeline from sensing.
+  You can change this value according to your LiDAR topic name,
+  or you can choose to use concatenated point cloud:
+
+  ```diff
+  - <arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
+  + <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud"/>
+  ```
+
+You can add every necessary argument
+to `tier4_localization_component.launch.xml` launch file like these examples.
+In case, if you want to change your gyro odometer twist input topic,
+you can add this argument on `tier4_localization_component.launch.xml` launch file:
+
+```diff
++ <arg name="input_vehicle_twist_with_covariance_topic" value="<YOUR-VEHICLE-TWIST-TOPIC-NAME>"/>
+```
+
+**Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information,
+please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/vehicle_velocity_converter).

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

@@ -15,10 +15,14 @@ This diagram describes some of the Autoware perception launch files flow at `aut
   </figcaption>
 </figure>
 
-The Autoware project is large. 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.
+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.
 
 ## tier4_perception_component.launch.xml
 
@@ -31,7 +35,7 @@ that we want
 to change it since `tier4_perception_component.launch.xml` is the top-level launch file of other perception launch files.
 Here are some predefined perception launch arguments:
 
-- **occupancy_grid_map_method:** This parameter determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) package for detailed information.
+- **`occupancy_grid_map_method:`** This parameter determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) package for detailed information.
   The default probabilistic occupancy grid map method is `pointcloud_based_occupancy_grid_map`.
   If you want to change it to the `laserscan_based_occupancy_grid_map`, you can change it here:
 
@@ -40,7 +44,7 @@ Here are some predefined perception launch arguments:
   + <arg name="occupancy_grid_map_method" default="laserscan_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   ```
 
-- **detected_objects_filter_method:** This parameter determines the filter method for detected objects.
+- **`detected_objects_filter_method:`** This parameter determines the filter method for detected objects.
   Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about lanelet and position filter.
   The default detected object filter method is `lanelet_filter`.
   If you want to change it to the `position_filter`, you can change it here:
@@ -50,7 +54,7 @@ Here are some predefined perception launch arguments:
   + <arg name="detected_objects_filter_method" default="position_filter" description="options: lanelet_filter, position_filter"/>
   ```
 
-- **detected_objects_validation_method:** This parameter determines the validation method for detected objects.
+- **`detected_objects_validation_method:`** This parameter determines the validation method for detected objects.
   Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about validation methods.
   The default detected object filter method is `obstacle_pointcloud`.
   If you want to change it to the `occupancy_grid`, you can change it here,
@@ -85,7 +89,7 @@ we will apply these changes `tier4_perception_component.launch.xml` instead of `
 
 Here are some example changes for the perception pipeline:
 
-- **remove_unknown:** This parameter determines the remove unknown objects at camera-lidar fusion.
+- **`remove_unknown:`** This parameter determines the remove unknown objects at camera-lidar fusion.
   Please check [roi_cluster_fusion](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md) node for detailed information.
   The default value is `true`.
   If you want to change it to the `false`,
@@ -96,7 +100,7 @@ Here are some example changes for the perception pipeline:
   + <arg name="remove_unknown" default="false"/>
   ```
 
-- **camera topics:** If you are using camera-lidar fusion or camera-lidar-radar fusion as a perception_mode,
+- **`camera topics:`** If you are using camera-lidar fusion or camera-lidar-radar fusion as a perception_mode,
   you can add your camera and info topics on `tier4_perception_component.launch.xml` as well,
   it will override the `perception.launch.xml` launch file arguments: