feat: add finals more detail (#82)

* add

* add explanation

* add en

* more doc

* refactor

* ci

* add change zenoh config, dockerbuild

* Revert "add change zenoh config, dockerbuild"

This reverts commit baf240c.

docs/finals/index.en.md

@@ -0,0 +1,22 @@
+# Finals Overview
+
+For the latest information on the semifinals and finals, please visit the following Society of Automotive Engineers of Japan website:
+[https://www.jsae.or.jp/jaaic/2024ver/](https://www.jsae.or.jp/jaaic/2024ver/)
+
+## Event Details
+
+### Schedule
+
+| Event                          | Date                          | Time |
+| ------------------------------ | ----------------------------- | ---- |
+| Final Practice Day             | November 1, 2024 (Postponed)  | 8:30~20:00 |
+| Semifinals                     | November 2, 2024 (Postponed)  | 8:30~20:00 |
+| Finals                         | November 3, 2024 (Postponed)  | 9:00~17:30 |
+| Awards Ceremony & Networking   | December 13, 2024             | TBD |
+
+### Venue
+
+[City Circuit Tokyo Bay](https://city-circuit.com/)
+<iframe width="704" height="396" src="https://www.youtube.com/embed/GsuCUoNrMDM?si=zoh1mL_U0yRnB2fj" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
+## [Next: How to Operate the Vehicle](./operation.en.md)

docs/finals/index.ja.md

@@ -18,3 +18,5 @@
 
 [シティサーキット東京ベイ](https://city-circuit.com/)
 <iframe width="704" height="396" src="https://www.youtube.com/embed/GsuCUoNrMDM?si=zoh1mL_U0yRnB2fj" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
+## [Next: 車両の動かし方](./operation.ja.md)

docs/finals/operation.en.md

@@ -0,0 +1,163 @@
+# How to Operate the Vehicle
+
+## Information Provided to Each Team
+
+The following information will be shared with each team before the event.
+| Item | Purpose |
+| ---- | ------- |
+| Vehicle Number (A1-A8) | Identification number assigned to each team's vehicle |
+| Vehicle ECU Username | Username for logging in and SSH connection to the vehicle ECU |
+| Vehicle ECU Password | Password for logging in and SSH connection to the vehicle ECU |
+
+## Important Notes
+
+- Please do not rename the `aichallenge-2024` directory under home as scripts are path-dependent.
+- ROSBAG recording is not automatic, so please execute the recording command during operation.
+- By default, Zenoh communication is set to only receive topics. If you need to change settings during operation, please use either of the following methods:
+    - Connect via SSH and execute directly from within the ECU without using Zenoh Bridge
+    - Comment out the `allow` section (lines 55-62) in the configuration file (`vehicle/zenoh.json5`) inside `aichallenge-2024` on the ECU
+- To connect using a vehicle number, you need to install arp-scan software using the following command:
+    - `sudo apt install arp-scan`
+
+## How to Connect to Vehicle ECU
+
+Connect to the ECU via SSH from your local PC using the `CCTB_office_01` Wi-Fi network.
+
+- Install arp-scan on your local PC: `sudo apt update && sudo apt install arp-scan`
+- Connect your PC to the `CCTB_office_01` Wi-Fi network (same network as the vehicle ECU).
+- On your PC, execute `cd aichallege-2024/remote` to change to the working directory
+- Execute `bash connect_ssh.bash <vehicle_name> <username>` on your PC (e.g., `bash connect_ssh.bash A9 aic-team`)
+- Enter your PC password if prompted
+- Enter the vehicle ECU password when prompted
+
+You should now have access to the vehicle ECU.
+
+If the above commands don't work, please try the following:
+
+- Ask the event staff for the vehicle's `<IP address>`
+- Execute `ssh <username>@<IP address>` on your PC
+
+## How to Transfer Autoware to Vehicle ECU
+
+- Please keep the folder name as `aichallenge-2024` due to script path dependencies.
+
+1. An `aichallenge-2024` folder is located under `/home` on the ECU; edit the submit folder within.
+2. Transfer aichallenge-2024 from your PC using SCP or VSCode Remote SSH
+
+## Operations After Connecting to Vehicle ECU
+
+### 1. Starting Drivers and Docker Containers
+
+```bash
+cd aichallenge-2024
+./docker_build.sh dev (only needs to be executed once initially)
+bash run_vehicle_tmux.sh
+```
+
+The terminal will be split as shown below:
+![tmux-image](./images/tmux.png)
+
+- Left ①: Starts ./docker_run dev cpu and enters aichallenge-2024 container
+- Right ②: Starts ./docker_run dev cpu and enters aichallenge-2024 container
+- Right ③: Vehicle driver software starts
+- Right ④: Zenoh bridge starts
+- Right ⑤: Nothing specific
+
+The vehicle driver (right ③) and Zenoh bridge (right ④) will start automatically.
+
+### 2. Starting Autoware
+
+Execute within Docker container. By default, use terminal ① on the left or ② on the right.
+
+```bash
+cd /aichallenge
+./build_autoware.bash (execute only once initially, then as needed when making changes that require rebuilding)
+./run_autoware.bash vehicle (autoware starts and is ready)
+```
+
+### 3. Recording ROSBAG
+
+Execute within Docker container. By default, use terminal ① on the left or ② on the right.
+
+```bash
+cd /aichallenge
+source workspace/install/setup.bash
+ros2 bag record -a
+# If you want to avoid warnings (though they don't affect operation), use this alternative command:
+ros2 bag record -a -x "(/racing_kart/.*|/to_can_bus|/from_can_bus)"
+# You can also record using this command:
+cd /aichallenge
+./record_rosbag.bash
+```
+
+### 4. When Finishing Operation
+
+Execute the following in terminal ⑤ on the right to stop the container and tmux:
+
+```bash
+./stop_vehicle_tmux.sh
+```
+
+## For ROS Communication Between Local PC and ECU
+
+- Execute the following on your local PC:
+
+```bash
+# Only needed once initially
+./docker_build.sh dev
+# Enter Docker container
+./docker_run.sh dev cpu
+# Launch terminator (GUI version of tmux) and split screen by right-clicking
+# In one terminator terminal, connect to vehicle via Zenoh
+cd /remote
+./connect_zenoh.bash <vehicle_number>
+# In the other terminator terminal, you can communicate with ECU
+# (Example: Launch Rviz)
+cd /aichallenge
+./run_rviz.bash
+```
+
+- Press CTRL+C in the Zenoh terminal to end communication.
+
+## FAQ: Troubleshooting
+
+### Q. ROS communication not working between local PC and ECU / Topic duplication
+
+A. Restart Zenoh on both local PC and ECU
+
+#### Restarting Zenoh on ECU
+
+Stop Zenoh in terminal ⑤ by executing:
+
+```bash
+cd vehicle
+./kill_zenoh.bash
+```
+
+Then restart Zenoh in terminal ④:
+
+```bash
+./run_zenoh.bash
+```
+
+#### Restarting Zenoh on Local PC
+
+Press CTRL+C in the Zenoh terminal to stop it
+Then execute `./connect_zenoh.bash <vehicle_number>` to restart
+
+### Q. Low ROS Topic publishing frequency during Zenoh communication
+
+A. The config file `./vehicle/zenoh.json5` is set for stable communication, default 10Hz.
+If needed, you can adjust the publishing frequency by modifying `pub_max_frequencies: ["/*=10"]`.
+
+### Q. ROS Topics delayed or missing on local PC
+
+A. Topics may be delayed or lost due to communication conditions.
+
+- Try reducing the number of topics displayed on local PC or adjusting publishing frequency
+- You can set topic priorities in `./vehicle/zenoh.json5` config file using `pub_priorities: ["/racing_kart/joy=1:express"]`
+- Try executing `./remote/network_setting.bash`
+
+### Q. Unsure if inside aichallenge-2024 container
+
+A. A simple check: execute the docker command in the terminal - if you get `bash: docker: command not found`, you're inside Docker.

docs/finals/operation.ja.md

@@ -22,14 +22,21 @@
 
 ## 車両 ECU への接続方法
 
+手元PCから`CCTB_office_01`のWi-Fi経由でSSHでECUに接続します。
+
+- 手元PCにarp-scanをインストールする。`sudo apt update && sudo apt install arp-scan`
 - 手元のPCを `CCTB_office_01` というWi-Fiに接続する(車両 ECU と同じネットワーク)。
 - 手元のPCで `cd aichallege-2024/remote` を実行して作業ディレクトリを移動する
 - 手元のPCで `bash connect_ssh.bash <車両名> <ユーザー名>` を実行する (例 `bash connect_ssh.bash A9 aic-team`)
 - 手元のPCのパスワードを聞かれた場合は入力する
 - 車両 ECU のパスワードを聞かれるので入力する
-- 上記のコマンドが使えない場合
-    - 運営スタッフに車両の `<IPアドレス>` を問い合わせください
-    - 手元のPCで `ssh <ユーザー名>@<IPアドレス>` を実行する
+
+以上で車両ECUにアクセスできるはずです。
+
+上記のコマンドが使えない場合、以下をお試しください。
+
+- 運営スタッフに車両の `<IPアドレス>` を問い合わせください
+- 手元のPCで `ssh <ユーザー名>@<IPアドレス>` を実行する
 
 ## 車両ECUへのAutoware転送方法
 
@@ -59,6 +66,8 @@ bash run_vehicle_tmux.sh
 - 右側④：Zenohのブリッジが起動する
 - 右側⑤：特になし
 
+右側③の車両ドライバ・右側④のZenohブリッジは自動で起動します。
+
 ### 2. Autowareの起動
 
 Dockerコンテナ内で行います．デフォルトでは左側①か右側②のコンテナの端末です．
@@ -86,6 +95,14 @@ cd /aichallenge
 ./record_rosbag.bash
 ```
 
+### 4.走行終了時
+
+右側⑤の端末で以下を実行し、コンテナ・tmuxを終了します。
+
+```bash
+./stop_vehicle_tmux.sh
+```
+
 ## 手元のPCとECUでROS通信したい場合
 
 - 手元のPCで以下を実行します
@@ -137,8 +154,22 @@ Zenohが起動しているターミナルでCTRL+Cを押下し、Zenohを停止
 
 その後`./connect_zenoh.bash <車両番号>`を実行し、再度起動します
 
-### Q. 手元PCとECUでZenoh通信時にROSの配信周期が低い
+### Q. 手元PCとECUでZenoh通信時にROS Topicの配信周期が低い
 
 A. 通信の安定化のために`./vehicle/zenoh.json5`のconfigファイルを設定しており、デフォルト10Hzとなっています。
 
 必要であれば`pub_max_frequencies: ["/*=10"],`を変更することで配信周期を上げることができます。
+
+### Q. 手元PCでROS Topicが遅れる・来ない
+
+A. 通信状況によりTopicが遅れたり・ロスすることがあります。
+
+- 手元PCで表示するTopic数を減らしたりしてみてください。また配信周期の調整も一手です。
+
+- `./vehicle/zenoh.json5`のconfigファイル内 `pub_priorities: ["/racing_kart/joy=1:express"],`でTopicの優先度を設定することも可能です
+
+- `./remote/network_setting.bash`の実行も試してみてください。
+
+### Q. aichallenge-2024コンテナに入れているかわからない
+
+A. 簡易的ですがそのターミナル内でdockerコマンドを実行し`bash: docker: command not found`と出ればDocker内に入れています。