From 920a51293729c9ed95e4dafd5cbf6b1f2958f3ec Mon Sep 17 00:00:00 2001
From: Tetsuya Yamamoto <tetsuya.yamamoto@tier4.jp>
Date: Fri, 13 Dec 2024 11:52:05 +0900
Subject: [PATCH] =?UTF-8?q?fix:=20Changed=20the=20explanation=20to=20focus?=
 =?UTF-8?q?=20on=20XT32=20LiDAR=20related=20to=20discontinue=E2=80=A6=20(#?=
 =?UTF-8?q?27)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* Changed the explanation to focus on XT32 LiDAR related to discontinue AT128

Below is the exception part
- 3-2. ... LiDAR calibration file only as at128

* changed warning sentence
---
 docs/tutorials/01_hardware_setup.md           |   8 +-
 docs/tutorials/03_sensor_calibration.md       |   8 +-
 docs/tutorials/04_launch_application.md       |   6 +-
 docs/tutorials/figures/connection.drawio.svg  |   2 +-
 .../figures/demo_construction.drawio.svg      |   2 +-
 .../figures/synchronization.drawio.svg        | 665 +-----------------
 6 files changed, 19 insertions(+), 672 deletions(-)

diff --git a/docs/tutorials/01_hardware_setup.md b/docs/tutorials/01_hardware_setup.md
index 6ad92ebdf76..d57235b5727 100644
--- a/docs/tutorials/01_hardware_setup.md
+++ b/docs/tutorials/01_hardware_setup.md
@@ -4,6 +4,10 @@ As a first step, prepare your hardwares including Sensor and ECU.
 
 ## Sample hardware configuration
 
+> [!WARNING]
+>
+> HESAI AT128 is deprecated because it has been discontinued.
+
 This following hardware configuration is used throughout this tutorial.
 
 - ECU setup
@@ -12,10 +16,10 @@ This following hardware configuration is used throughout this tutorial.
 - Sensor setup
   - Sample configuration 1
     - Camera: TIER IV Automotive HDR Camera C1 (x2)
-    - LiDAR: HESAI AT128 (x1)
+    - LiDAR: HESAI Pandar XT32 (x1)
   - Sample configuration 2
     - Camera: TIER IV Automotive HDR Camera C1 (x2)
-    - LiDAR: HESAI Pandar XT32 (x1)
+    - LiDAR: HESAI AT128 (x1)
 
 ### Connection diagram
 
diff --git a/docs/tutorials/03_sensor_calibration.md b/docs/tutorials/03_sensor_calibration.md
index 1477630870a..b15eef7b651 100644
--- a/docs/tutorials/03_sensor_calibration.md
+++ b/docs/tutorials/03_sensor_calibration.md
@@ -96,9 +96,9 @@ for detailed operation on the tool.
 cd edge-auto
 source install/setup.bash
 
-ros2 launch edge_auto_launch calibration_extrinsic_at128_sample.launch.xml
-## or
 ros2 launch edge_auto_launch calibration_extrinsic_xt32_sample.launch.xml
+## or
+ros2 launch edge_auto_launch calibration_extrinsic_at128_sample.launch.xml
 ```
 
 After executing the above launch file, two windows will be appear like below:
@@ -115,6 +115,6 @@ After calculating extrinsic parameters, put the result in the appropriate files
 ```sh
 edge-auto/src/individual_params/individual_params/config/
 └── default
-    ├── at128_to_camera0.json # <- replace this file with your calculated results
-    └── at128_to_camera1.json # <- replace this file with your calculated results
+    ├── xt32_to_camera0.json # <- replace this file with your calculated results
+    └── xt32_to_camera1.json # <- replace this file with your calculated results
 ```
diff --git a/docs/tutorials/04_launch_application.md b/docs/tutorials/04_launch_application.md
index aa09b1cf240..fc7ee2fb51f 100644
--- a/docs/tutorials/04_launch_application.md
+++ b/docs/tutorials/04_launch_application.md
@@ -40,9 +40,9 @@ it is recommended to adjust this value according to your actual sensor setup to
 cd edge-auto
 source install/setup.bash
 
-ros2 launch edge_auto_launch perception_at128_sample.launch.xml sensor_height:=[sensor height from the ground]
-## or
 ros2 launch edge_auto_launch perception_xt32_sample.launch.xml sensor_height:=[sensor height from the ground]
+## or
+ros2 launch edge_auto_launch perception_at128_sample.launch.xml sensor_height:=[sensor height from the ground]
 ```
 
 This sample mainly leverages [pointcloud_preprocessor](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/pointcloud_preprocessor), [centerpoint](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/lidar_centerpoint), and [image_projection_based_fusion](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/image_projection_based_fusion) packages
@@ -51,7 +51,7 @@ See the READMEs of these packages for more detail.
 
 In addition to the perception stack, this sample also launches viewers so that users can check perception results visually.
 
-As an example, the following picture shows the perception results in the case of a system configuration that consists of one AT128 and one C1 camera.
+As an example, the following picture shows the perception results.
 
 ![Example: perception result](../sample.png "Example: perception result")
 
diff --git a/docs/tutorials/figures/connection.drawio.svg b/docs/tutorials/figures/connection.drawio.svg
index 04be3a18c4e..079067db177 100644
--- a/docs/tutorials/figures/connection.drawio.svg
+++ b/docs/tutorials/figures/connection.drawio.svg
@@ -1,4 +1,4 @@
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pointer-events="none"/><ellipse cx="762.17" cy="295" rx="10" ry="10" fill="none" stroke="#b3b3b3" pointer-events="none"/><ellipse cx="742.17" cy="275" rx="10" ry="10" fill="none" stroke="#b3b3b3" pointer-events="none"/><ellipse cx="742.17" cy="295" rx="10" ry="10" fill="none" stroke="#22a3cd" pointer-events="none"/><ellipse cx="762.17" cy="275" rx="10" ry="10" fill="none" stroke="#22a3cd" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 295px; margin-left: 784px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 14px;" color="#b3b3b3">2</font></div></div></div></foreignObject><text x="784" y="303" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="28px" text-anchor="middle">2</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 295px; margin-left: 721px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: 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transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 245px; margin-left: 752px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 14px;" color="#b3b3b3">GMSL 2</font></div></div></div></foreignObject><text x="752" y="253" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="28px" text-anchor="middle">GMSL 2</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 265px; margin-left: 784px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 14px" color="#22a3cd">1</font></div></div></div></foreignObject><text x="784" y="273" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="28px" text-anchor="middle">1</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 105px; height: 1px; padding-top: 15px; margin-left: 1px;"><div data-drawio-colors="color: #000000; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><font style="font-size: 14px"><span style="font-size: 14px">Display</span></font></div></div></div></foreignObject><text x="53" y="19" fill="#000000" font-family="Helvetica" font-size="14px" text-anchor="middle">Display</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 105px; height: 1px; padding-top: 155px; margin-left: 1px;"><div data-drawio-colors="color: #000000; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 14px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><font style="font-size: 14px"><span style="font-size: 14px">Keyboard</span></font></div></div></div></foreignObject><text x="53" y="159" fill="#000000" font-family="Helvetica" font-size="14px" text-anchor="middle">Keyboard</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 265px; margin-left: 810px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 14px" color="#b3b3b3">7</font></div></div></div></foreignObject><text x="810" y="273" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="28px" text-anchor="middle">7</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 295px; margin-left: 873px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 14px" color="#b3b3b3">6</font></div></div></div></foreignObject><text x="873" y="303" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="28px" text-anchor="middle">6</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 295px; margin-left: 810px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 28px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 14px" color="#b3b3b3">8</font></div></div></div></foreignObject><text x="810" y="303" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="28px" text-anchor="middle">8</text></switch></g><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 265px; margin-left: 873px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: 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-                                        x86-based ECU
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