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AutomotiveAIChallenge · Oct 31, 2024 · c0515a1 · c0515a1
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diff --git a/docs/finals/index.en.md b/docs/finals/index.en.md
@@ -19,4 +19,4 @@ For the latest information on the semifinals and finals, please visit the follow
 [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)
+## [Next: How to Operate the Vehicle](./operation.en.md)
diff --git a/docs/finals/index.ja.md b/docs/finals/index.ja.md
@@ -19,4 +19,4 @@
 [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)
+## [Next: 車両の動かし方](./operation.ja.md)
diff --git a/docs/finals/operation.en.md b/docs/finals/operation.en.md
@@ -1,6 +1,7 @@
 # How to Operate the Vehicle
 
 ## Information Provided to Each Team
+
 The following information will be shared with each team before the event.
 | Item | Purpose |
 | ---- | ------- |
@@ -9,6 +10,7 @@ The following information will be shared with each team before the event.
 | 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:
@@ -18,6 +20,7 @@ The following information will be shared with each team before the event.
     - `sudo apt install arp-scan`
 
 ## How to Connect to Vehicle ECU
+
 - Connect your PC to the Wi-Fi network `CCTB_office_01` (same network as vehicle ECU)
 - On your PC, execute `cd aichallege-2024/remote` to change working directory
 - Execute `bash connect_ssh.bash <vehicle_name> <username>` on your PC (e.g., `bash connect_ssh.bash A9 aic-team`)
@@ -28,35 +31,47 @@ The following information will be shared with each team before the event.
     - 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
@@ -68,8 +83,18 @@ 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
@@ -84,34 +109,48 @@ cd /remote
 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.
+
+A. A simple check: execute the docker command in the terminal - if you get `bash: docker: command not found`, you're inside Docker.
diff --git a/docs/finals/operation.ja.md b/docs/finals/operation.ja.md
@@ -59,6 +59,8 @@ 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 +88,14 @@ 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
@@ -144,13 +154,15 @@ A. 通信の安定化のために`./vehicle/zenoh.json5`のconfigファイルを
 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。