docs(tier4_simulated_clock_rviz_plugin): update how to use (#6914)

* docs(tier4_simulated_clock_rviz_plugin): update how to use Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fixed tabbed warning Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix warning not working Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Fix bullet list Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
autowarefoundation · May 1, 2024 · 7f9a322 · 7f9a322
1 parent 38ab80e
commit 7f9a322
Showing 1 changed file with 29 additions and 10 deletions.
diff --git a/common/tier4_simulated_clock_rviz_plugin/README.md b/common/tier4_simulated_clock_rviz_plugin/README.md
@@ -10,18 +10,37 @@ This plugin allows publishing and controlling the simulated ROS time.
 | -------- | --------------------------- | -------------------------- |
 | `/clock` | `rosgraph_msgs::msg::Clock` | the current simulated time |
 
-## HowToUse
+## How to use the plugin
+
+1. Launch [planning simulator](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#1-launch-autoware) with `use_sim_time:=true`.
+
+   ```shell
+   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit use_sim_time:=true
+   ```
+
+   > <span style="color: orange; font-weight: bold;">Warning</span>
+   > If you launch the planning simulator without adding the `tier4_simulated_clock_rviz_plugin`, your simulation will not be running. You'll not even be able to place the initial and the goal poses.
+
+2. Start rviz and select panels/Add new panel.
 
-1. Start rviz and select panels/Add new panel.
    ![select_panel](./images/select_panels.png)
-2. Select tier4_clock_rviz_plugin/SimulatedClock and press OK.
+
+3. Select tier4_clock_rviz_plugin/SimulatedClock and press OK.
+
    ![select_clock_plugin](./images/select_clock_plugin.png)
-3. Use the added panel to control how the simulated clock is published.
+
+4. Use the added panel to control how the simulated clock is published.
+
    ![use_clock_plugin](./images/use_clock_plugin.png)
 
-   - Pause button: pause/resume the clock.
-   - Speed: speed of the clock relative to the system clock.
-   - Rate: publishing rate of the clock.
-   - Step button: advance the clock by the specified time step.
-   - Time step: value used to advance the clock when pressing the step button d).
-   - Time unit: time unit associated with the value from e).
+   <ol type="a">
+     <li>Pause button: pause/resume the clock.</li>
+     <li>Speed: speed of the clock relative to the system clock.</li>
+     <li>Rate: publishing rate of the clock.</li>
+     <li>Step button: advance the clock by the specified time step.</li>
+     <li>Time step: value used to advance the clock when pressing the step button d).</li>
+     <li>Time unit: time unit associated with the value from e).</li>
+   </ol>
+
+   > <span style="color: orange; font-weight: bold;">Warning</span>
+   > If you set the time step too large, your simulation will go haywire.