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Merge pull request #1576 from tier4/docs/fix_architecture_type
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‎docs/developer_guide/Communication.md

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| `/perception/object_recognition/ground_truth/objects` | [`autoware_perception_msgs/msg/TrackedObjects`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrackedObjects.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#object-detection-results-simulation) |
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| `/perception/obstacle_segmentation/pointcloud` | [`sensor_msgs/msg/PointCloud2`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#lidar-simulation) |
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| `/perception/occupancy_grid_map/map` | [`nav_msgs/msg/OccupancyGrid`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/OccupancyGrid.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#occupancy-grid-sensor-simulation) |
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| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` |
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| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` or `awf/universe/20250130` |
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| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20230906` |
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| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20240605` |
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| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20240605` or `awf/universe/20250130` |
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| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20230906` |
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| `/planning/mission_planning/checkpoint` | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg) | |
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| `/planning/mission_planning/goal` | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg) | |
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| `/sensing/imu/imu_data` | [`sensor_msgs/msg/Imu`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg) | |
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| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` |
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| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20230906` |
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| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` or `awf/universe/20250130` |
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| `/vehicle/status/control_mode` | [`autoware_vehicle_msgs/msg/ControlModeReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/ControlModeReport.msg) | |
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| `/vehicle/status/gear_status` | [`autoware_vehicle_msgs/msg/GearReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/GearReport.msg) | |
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| `/vehicle/status/steering_status` | [`autoware_vehicle_msgs/msg/SteeringReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/SteeringReport.msg) | |

‎docs/user_guide/QuickStart.md

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#### scenario_test_runner
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```bash
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ros2 launch scenario_test_runner scenario_test_runner.launch.py \
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architecture_type:=awf/universe/20230906 \
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architecture_type:=awf/universe/20250130 \
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record:=false \
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scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
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sensor_model:=sample_sensor_kit \
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#### random_test_runner
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```bash
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ros2 launch random_test_runner random_test.launch.py \
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architecture_type:=awf/universe/20230906 \
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architecture_type:=awf/universe/20250130 \
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sensor_model:=sample_sensor_kit \
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vehicle_model:=sample_vehicle timeout:=120.0
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```

‎docs/user_guide/random_test_runner/QuickStart.md

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```bash
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ros2 launch random_test_runner random_test.launch.py map_name:=shinjuku_map simulator_type:=awsim \
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npc_count:=5 initialize_duration:=260 sensor_model:=awsim_sensor_kit vehicle_model:=sample_vehicle \
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autoware_launch_file:=e2e_simulator.launch.xml autoware_architecture:="awf/universe/20230906"
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autoware_launch_file:=e2e_simulator.launch.xml autoware_architecture:="awf/universe/20250130"
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```
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![Random test runner launched](img/random_test_runner_awsim.png)

‎docs/user_guide/random_test_runner/Usage.md

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| Parameter name | Default value | Description |
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|---------------------|-------------------------------|---------------------------------------------------------------------------|
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| `architecture_type` | `"awf/universe/20230906"` | Autoware architecture type. Currently supported values are: `awf/universe/20230906` and `awf/universe/20240605`. |
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| `architecture_type` | `"awf/universe/20240605"` | Autoware architecture type. Currently supported values are: `awf/universe/20230906`, `awf/universe/20240605` and `awf/universe/20250130`. |
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| `sensor_model` | `"sample_sensor_kit"` | Ego sensor model. |
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| `vehicle_model` | `"sample_vehicle"` | Ego vehicle model. |
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‎docs/user_guide/scenario_test_runner/RealtimeFactor.md

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```bash
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ros2 launch scenario_test_runner scenario_test_runner.launch.py \
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architecture_type:=awf/universe/20230906 \
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architecture_type:=awf/universe/20250130 \
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record:=false \
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scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
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sensor_model:=sample_sensor_kit \
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```bash
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ros2 launch scenario_test_runner scenario_test_runner.launch.py \
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architecture_type:=awf/universe/20230906 \
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architecture_type:=awf/universe/20250130 \
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record:=false \
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scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
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sensor_model:=sample_sensor_kit \

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