add launch control page

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

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

@@ -7,3 +7,4 @@ nav:
   - Launch localization: localization
   - Launch perception: perception
   - Launch planning: planning
+  - Launch control: control

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

@@ -0,0 +1,82 @@
+# Control Launch Files
+
+## Overview
+
+The Autoware control stacks start
+launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
+The `autoware_launch` package includes `tier4_control_component.launch.xml`
+for starting control launch files invocation from `autoware_launch.xml`.
+This diagram describes some of the Autoware control launch files flow at `autoware_launch` and `autoware.universe` packages.
+
+<figure markdown>
+  ![control-launch-flow](images/control_launch_flow.svg){ align=center }
+  <figcaption>
+    Autoware control launch flow diagram
+  </figcaption>
+</figure>
+
+!!! note
+
+    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_control_component.launch.xml
+
+The `tier4_control_component.launch.xml` launch file is the main control component launch at the `autoware_launch` package.
+This launch file calls `planning.launch.xml` at [tier4_planning_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_planning_launch) package from `autoware.universe` repository.
+We can modify planning launch arguments at tier4_planning_component.launch.xml.
+Also,
+we can add any other necessary arguments
+that we want
+to change it since `tier4_planning_component.launch.xml` is the top-level launch file of other planning launch files.
+Here are some predefined planning launch arguments:
+
+- **`lateral_controller_mode:`** This argument determines the lateral controller algorithm.
+  The default value is `mpc`.
+  If you want to set it to `pure pursuit`, you can make the change in the
+  tier4_control_component.launch.xml file:
+
+  ```diff
+  - <arg name="lateral_controller_mode" default="mpc"/>
+  + <arg name="lateral_controller_mode" default="pure_pursuit"/>
+  ```
+
+- **`enable_autonomous_emergency_braking:`** This argument enables the autonomous emergency braking at some
+  specific conditions.
+  PLease refer to [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware.universe/main/control/autonomous_emergency_braking/) page for
+  more information.
+  If you want to enable it, you can do in the
+  `tier4_control_component.launch.xml` file:
+
+  ```diff
+  - <arg name="enable_autonomous_emergency_braking" default="false"/>
+  + <arg name="enable_autonomous_emergency_braking" default="true"/>
+  ```
+
+- **`enable_predicted_path_checker:`** This argument enables the predicted path checker module,
+  please refer to [Predicted Path Checker](https://autowarefoundation.github.io/autoware.universe/main/control/predicted_path_checker/) page for
+  more information.
+  If you want to enable it, you can do in the
+  `tier4_control_component.launch.xml` file:
+
+  ```diff
+  - <arg name="enable_predicted_path_checker" default="false"/>
+  + <arg name="enable_predicted_path_checker" default="true"/>
+  ```
+
+!!! note
+
+    You can also use this arguments as command line arguments:
+    ```bash
+    ros2 launch autoware_launch autoware.launch.xml ... enable_predicted_path_checker:=true lateral_controller_mode:=pure_pursuit ...
+    ```
+
+The predefined arguments in `tier4_control_component.launch.xml`
+have been explained above, but there are numerous control arguments
+included in the `autoware_launch` control config parameters.

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

@@ -10,7 +10,7 @@ We will explain how to run and launch autoware with these modules:
 - [Localization](./localization)
 - [Perception](./perception)
 - [Planning](./planning)
-- Control
+- [Control](./control)
 
 ## Pre-requirements of launching Autoware with real vehicle