Update: Add instruction about planning simulation with virtual obstac…

…les(#63) 1. Add instruction about planning simulation with virtual obstacles. 2. Add some minor modification
AutomotiveAIChallenge · Oct 10, 2023 · 2456806 · 2456806
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diff --git a/documentation/docfx_project/finals/index.md b/documentation/docfx_project/finals/index.md
@@ -89,27 +89,26 @@ SDの役割は、手動運転によるゴルフカートの移動と、自動運
 SOは参加者のメンターとして活動する一方、自動運転の監視を行います。  
 **自動運転走行の継続が危険とSOが判断した緊急、SOは緊急停止ボタンを操作する責任を持っています。緊急停止ボタンが押下された場合は、SOの判断の尊重をお願いいたします。**
 
-
 ### 事前のシミュレーション実施のお願い
 
 **安全な競技運営のため、来場前にPlannning Simulationの実施をお願いいたします。**
 *Planning Simulation 実施方法*  
 
 1. ターミナルを開き、以下のコマンドを実行する
 
-```
-source /home/autoware/aichallenge2023-integration-final/install/setup.bash
+    ```bash
+    source /home/autoware/aichallenge2023-integration-final/install/setup.bash
 
-ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<競技に使用する地図のパス> vehicle_model:=golfcart sensor_model:=golfcart
+    ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<競技に使用する地図のパス> vehicle_model:=golfcart sensor_model:=golfcart
 
-```
+    ```
 
 2. `2D Pose Estimation` を使用し、スタート地点に車両を配置する
-3. ゴールを設定し、自動運転走行を開始する。
-4. 車両が危険な挙動 (制限速度を超過した走行、障害物を無視した走行) をしないことを確認する。
-
-参考: Planning Simulation：https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/
+3. 新たにターミナルを開き、スクリプト   `~/aichallenge2023-integration-final/scripts/set_obstacles.sh` を実行する。その後、課題3の障害物が再現されていることを確認する。 ※スクリプトが存在しない場合は、[こちらのコミット](https://github.com/AutomotiveAIChallenge/aichallenge2023-integration-final/commit/49ec129db8f26485fffed7daef85c5da1649998b)を取り入れてください。
+4. ゴールを設定し、自動運転走行を開始する。
+5. 車両が危険な挙動 (制限速度を超過した走行、障害物を無視した走行) をしないことを確認する。
 
+Planning Simulationについての詳細は [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/) を参照してください。
 
 ### 天候条件に関する基準
 

diff --git a/documentation/docfx_project_en/finals/index.md b/documentation/docfx_project_en/finals/index.md
@@ -37,9 +37,7 @@ In the final competition, participants will operate a golf cart-style autonomous
 - The vehicle offers two control modes: `automatic` and `manual`. The safety driver has the ability to switch between these modes.
 - During autonomous driving, the safety driver has the capability to transition the vehicle's control mode from `automatic` to `manual` by pressing the brakes. This action is termed an override. The safety driver will initiate the override if continuing autonomous driving is deemed unsafe.
 
-
-
-# For Final Tournament Participants (Updated on 2023/09/28)
+## For Final Tournament Participants (Updated on 2023/09/28)
 
 Please make sure all the participants of the final tournament thoroughly check the following before the day of the tournament.
 
@@ -58,22 +56,22 @@ While the SO acts as a mentor to participants, they also monitor autonomous driv
 ### Request for Preliminary Simulation
 
 **For the safe operation of the competition, we request you to execute the Planning Simulation before coming to the test field.**  
-
 *How to execute Planning Simulation*  
 
 1. Open a terminal window and run the following commands:
 
-```
-source /home/autoware/aichallenge2023-integration-final/install/setup.bash
+    ```bash
+    source /home/autoware/aichallenge2023-integration-final/install/setup.bash
 
-ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<path of the map used for competition> vehicle_model:=golfcart sensor_model:=golfcart
-```
+    ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<path of the map used for competition> vehicle_model:=golfcart sensor_model:=golfcart
+    ```
 
 2. Use `2D Pose Estimation` to position the vehicle at the starting point.
-3. Set the goal and start autonomous driving.
-4. Confirm that the vehicle does not exhibit dangerous behavior (exceeding speed limits, ignoring obstacles). 
-
-Ref: Planning Simulation: https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/
+3. Open a new terminal window and run the script `~/aichallenge2023-integration-final/scripts/set_obstacles.sh`. Then confirm that virtual obstacles are placed in the area of task 3-1 (slalom). *If you cannot find the script, please merge [this commit](https://github.com/AutomotiveAIChallenge/aichallenge2023-integration-final/commit/49ec129db8f26485fffed7daef85c5da1649998b) into your repository.
+4. Set the goal and start autonomous driving.
+5. Confirm that the vehicle does not exhibit dangerous behavior (exceeding speed limits, ignoring obstacles).
+
+For more details about Planning Simulation, please refer [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/)
 
 ### Criteria Regarding Weather Conditions