docs: update link style and fix typos (#950)

shmpwk · h-ohta · pre-commit-ci[bot] · web-flow · commit 1168f14913a3 · 2022-05-24T12:57:31.000Z
* feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * docs: update link style Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * chore: fix link Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi <ishitah.takeshi@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * docs(tier4_traffic_light_rviz_plugin): update documentation (#905) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(accel_brake_map_calibrator): rviz panel type (#895) * fixed panel type Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * modified instruction for rosbag replay case Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * modified update_map_dir service name Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (#898) * skipping emplace back stop reason if it is empty Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * add braces Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(behavior_path_planner): weakened noise filtering of drivable area (#838) * feat(behavior_path_planner): Weakened noise filtering of drivable area Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix lanelet's longitudinal disconnection Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments of erode/dilate process Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * refactor(vehicle-cmd-gate): using namespace for msgs (#913) * refactor(vehicle-cmd-gate): using namespace for msgs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * for clang Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(pose_initializer): introduce an array copy function (#900) Signed-off-by: IshitaTakeshi <ishitah.takeshi@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat: add lidar point filter when debug (#865) * feat: add lidar point filter when debug Signed-off-by: suchang <chang.su@autocore.ai> * ci(pre-commit): autofix Co-authored-by: suchang <chang.su@autocore.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(component_interface_utils): add interface classes (#899) * feat(component_interface_utils): add interface classes Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(default_ad_api): apply the changes of interface utils Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix(component_interface_utils): remove old comment Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix(component_interface_utils): add client log Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix(component_interface_utils): remove unimplemented message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * docs(component_interface_utils): add design policy Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * docs(component_interface_utils): add comment Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * refactor(vehicle_cmd_gate): change namespace in launch file (#927) Signed-off-by: Berkay <berkay@leodrive.ai> Co-authored-by: Berkay <berkay@leodrive.ai> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat: visualize lane boundaries (#923) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(system_monitor): fix truncation warning in strncpy (#872) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (#917) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic * chore: update debug code Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * fix: delete space * fix: some fix * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * docs(surround obstacle checker): update documentation (#878) * docs(surround_obstacle_checker): update pub/sub topics & params Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(surround_obstacle_checker): remove unused files Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(surround_obstacke_checker): update purpose Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(tier4_autoware_utils): add vehicle state checker (#896) * feat(tier4_autoware_utils): add vehicle state checker Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): use absolute value Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(tier4_autoware_utils): divide into two classies Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * test(tier4_autoware_utils): add unit test for vehicle_state checker Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): impl class inheritance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(tier4_autoware_utils): add vehicle_state_checker document Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): into same loop Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): fix variables name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): remove redundant codes Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (#816) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Modify overwriteStopPoint input and output Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(obstacle_avoidance_planner): explicitly insert zero velocity (#906) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix bug of unsorted output points Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * move calcVelocity in node.cpp Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix build error Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(behavior_velocity): find occlusion more efficiently (#829) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(system_monitor): add some smart information to diagnostics (#708) Signed-off-by: kk-inoue-esol <kk-inoue@esol.co.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(obstacle_avoidance_planner): dealt with close lane change (#921) * feat(obstacle_avoidance_planner): dealt with close lane change Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix bug of right lane change Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(obstacle_avoidance_planner): some fix for narrow driving (#916) * use car like constraints in mpt * use not widest bounds for the first bounds Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * organized params Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix format Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * prepare rear_drive and uniform_circle constraints Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix param callback Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove unnecessary files Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update tier4_planning_launch params Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (#919) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (#932) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(map_loader): visualize center line by points (#931) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat: add RTC interface (#765) * feature(rtc_interface): add files Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): implement functions Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix README Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): add getModuleType() Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix definition of constructor Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix time stamp Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix README Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): add isRegistered and clearCooperateStatus Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * chore: sync files (#911) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: replace boost::mutex::scoped_lock to std::scoped_lock (#907) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (#885) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node Signed-off-by: Kaan Colak <kcolak@leodrive.ai> * feat(tensorrt_yolo): update arg Signed-off-by: Kaan Colak <kcolak@leodrive.ai> Co-authored-by: Kaan Colak <kcolak@leodrive.ai> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (#887) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (#942) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> * fix(map_loader): remove c_str Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> * fix(map_loader): replace c_str to string Signed-off-by: RyuYamamoto <ryu.yamamoto@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: relative link Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: relative links Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: relative links Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: relative links Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: typo Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix relative links Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * docs: ignore rare unknown words Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * docs: ignore unknown words one by one Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> Co-authored-by: suchang <chang.su@autocore.ai> Co-authored-by: Berkay <brkay54@gmail.com> Co-authored-by: Berkay <berkay@leodrive.ai> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: kk-inoue-esol <76925382+kk-inoue-esol@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: RyuYamamoto <ryu.yamamoto@tier4.jp> Co-authored-by: Kaan Çolak <kaancolak95@gmail.com> Co-authored-by: Kaan Colak <kcolak@leodrive.ai> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
diff --git a/common/autoware_auto_common/design/comparisons.md b/common/autoware_auto_common/design/comparisons.md
@@ -1,4 +1,4 @@
-# Comparisons {#helper-comparisons}
+# Comparisons
 
 The `float_comparisons.hpp` library is a simple set of functions for performing approximate numerical comparisons.
 There are separate functions for performing comparisons using absolute bounds and relative bounds. Absolute comparison checks are prefixed with `abs_` and relative checks are prefixed with `rel_`.
diff --git a/common/autoware_auto_geometry/design/interval.md b/common/autoware_auto_geometry/design/interval.md
@@ -1,4 +1,4 @@
-# Interval {#geometry-interval}
+# Interval
 
 The interval is a standard 1D real-valued interval.
 The class implements a representation and operations on the interval type and guarantees interval validity on construction.
diff --git a/common/autoware_auto_geometry/design/polygon_intersection_2d-design.md b/common/autoware_auto_geometry/design/polygon_intersection_2d-design.md
@@ -1,4 +1,4 @@
-# 2D Convex Polygon Intersection {#convex-polygon-intersection-2d}
+# 2D Convex Polygon Intersection
 
 Two convex polygon's intersection can be visualized on the image below as the blue area:
 
diff --git a/common/autoware_auto_geometry/design/spatial-hash-design.md b/common/autoware_auto_geometry/design/spatial-hash-design.md
@@ -1,4 +1,4 @@
-# Spatial Hash {#geometry-spatial-hash}
+# Spatial Hash
 
 The spatial hash is a data structure designed for efficient fixed-radius near-neighbor queries in
 low dimensions.
@@ -35,9 +35,11 @@ The spatial hash works as follows:
 Under the hood, an `std::unordered_multimap` is used, where the key is a bin/voxel index.
 The bin size was computed to be the same as the lookup distance.
 
+<!-- cspell:ignore CRTP -->
+
 In addition, this data structure can support 2D or 3D queries. This is determined during
 configuration, and baked into the data structure via the configuration class. The purpose of
-this was to avoid if statements in tight loops. The configuration class specializations themself
+this was to avoid if statements in tight loops. The configuration class specializations themselves
 use CRTP (Curiously Recurring Template Patterns) to do "static polymorphism", and avoid
 a dispatching call.
 
diff --git a/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md b/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md
@@ -1,4 +1,4 @@
-# autoware_auto_tf2 {#autoware-auto-tf2-design}
+# autoware_auto_tf2
 
 This is the design document for the `autoware_auto_tf2` package.
 
@@ -110,7 +110,7 @@ inline void doTransform(
   const geometry_msgs::msg::TransformStamped & transform)
 ```
 
-- `Quarternion32` (`autoware_auto_msgs`)
+- `Quaternion32` (`autoware_auto_msgs`)
 
 ```cpp
 inline void doTransform(
@@ -169,15 +169,15 @@ inline std::string getFrameId(const BoundingBoxArray & t)
 
 ## Challenges
 
-- `tf2_geometry_msgs` does not implement `doTransform` for any non-stamped datatypes, but it is
+- `tf2_geometry_msgs` does not implement `doTransform` for any non-stamped data types, but it is
   possible with the same function template. It is needed when transforming sub-data, with main data
   that does have a stamp and can call doTransform on the sub-data with the same transform. Is this a useful upstream contribution?
 - `tf2_geometry_msgs` does not have `Point`, `Point32`, does not seem it needs one, also the
   implementation of non-standard `toMsg` would not help the convert.
 - `BoundingBox` uses 32-bit float like `Quaternion32` and `Point32` to save space, as they are used
   repeatedly in `BoundingBoxArray`. While transforming is it better to convert to 64-bit `Quaternion`,
   `Point`, or `PoseStamped`, to re-use existing implementation of `doTransform`, or does it need to be
-  implemented? Templatization may not be simple.
+  implemented? It may not be simple to template.
 
 <!-- # Related issues -->
 <!-- Required -->
diff --git a/common/autoware_testing/design/autoware_testing-design.md b/common/autoware_testing/design/autoware_testing-design.md
@@ -1,4 +1,4 @@
-# autoware_testing {#autoware_testing-package-design}
+# autoware_testing
 
 This is the design document for the `autoware_testing` package.
 
diff --git a/common/fake_test_node/design/fake_test_node-design.md b/common/fake_test_node/design/fake_test_node-design.md
@@ -1,4 +1,4 @@
-# Fake Test Node {#fake-test-node-design}
+# Fake Test Node
 
 ## What this package provides
 
diff --git a/common/osqp_interface/design/osqp_interface-design.md b/common/osqp_interface/design/osqp_interface-design.md
@@ -1,4 +1,4 @@
-# Interface for the OSQP library {#osqp_interface-package-design}
+# Interface for the OSQP library
 
 This is the design document for the `osqp_interface` package.
 
diff --git a/common/vehicle_constants_manager/design/vehicle_constants_manager-design.md b/common/vehicle_constants_manager/design/vehicle_constants_manager-design.md
@@ -1,4 +1,4 @@
-# vehicle_constants_manager {#vehicle-constants-manager-package-design}
+# vehicle_constants_manager
 
 This is the design document for the `vehicle_constants_manager` package.
 
@@ -83,7 +83,7 @@ vehicle:
   inertia_yaw_kg_m_2:
 ```
 
-## Inputs / Outputs / API {#vehicle-constants-manager-package-design-inputs}
+## Inputs / Outputs / API
 
 <!-- Required -->
 <!-- Things to consider:
diff --git a/control/trajectory_follower/design/trajectory_follower-design.md b/control/trajectory_follower/design/trajectory_follower-design.md
@@ -1,4 +1,4 @@
-# Trajectory Follower {#trajectory_follower-package-design}
+# Trajectory Follower
 
 This is the design document for the `trajectory_follower` package.
 
@@ -12,9 +12,9 @@ This package provides the library code used by the nodes of the `trajectory_foll
 Mainly, it implements two algorithms:
 
 - Model-Predictive Control (MPC) for the computation of lateral steering commands.
-  - @subpage trajectory_follower-mpc-design
+  - [trajectory_follower-mpc-design](trajectory_follower-mpc-design.md)
 - PID control for the computation of velocity and acceleration commands.
-  - @subpage trajectory_follower-pid-design
+  - [trajectory_follower-pid-design](trajectory_follower-pid-design.md)
 
 ## Related issues
 
diff --git a/control/trajectory_follower/design/trajectory_follower-mpc-design.md b/control/trajectory_follower/design/trajectory_follower-mpc-design.md
@@ -1,4 +1,4 @@
-# MPC (Trajectory Follower) {#trajectory_follower-mpc-design}
+# MPC (Trajectory Follower)
 
 This is the design document for the MPC implemented in the `trajectory_follower` package.
 
@@ -34,7 +34,7 @@ Different vehicle models are implemented:
 
 The `kinematics` model is being used by default. Please see the reference [1] for more details.
 
-For the optimization, a Quadratric Programming (QP) solver is used
+For the optimization, a Quadratic Programming (QP) solver is used
 with two options are currently implemented:
 
 - `unconstraint` : use least square method to solve unconstraint QP with eigen.
diff --git a/control/trajectory_follower/design/trajectory_follower-pid-design.md b/control/trajectory_follower/design/trajectory_follower-pid-design.md
@@ -1,4 +1,4 @@
-# PID (Trajectory Follower) {#trajectory_follower-pid-design}
+# PID (Trajectory Follower)
 
 This is the design document for the PID implemented in the `trajectory_follower` package.
 
diff --git a/control/trajectory_follower_nodes/design/lateral_controller-design.md b/control/trajectory_follower_nodes/design/lateral_controller-design.md
@@ -1,4 +1,4 @@
-# Lateral Controller {#lateral-controller-design}
+# Lateral Controller
 
 This is the design document for the lateral controller node
 in the `trajectory_follower_nodes` package.
@@ -23,7 +23,7 @@ The MPC uses a model of the vehicle to simulate the trajectory resulting from th
 The optimization of the control command is formulated as a Quadratic Program (QP).
 
 These functionalities are implemented in the `trajectory_follower` package
-(see @subpage trajectory_follower-mpc-design)
+(see [trajectory_follower-mpc-design](../../trajectory_follower/design/trajectory_follower-mpc-design.md#mpc-trajectory-follower))
 
 ### Assumptions / Known limits
 
diff --git a/control/trajectory_follower_nodes/design/latlon_muxer-design.md b/control/trajectory_follower_nodes/design/latlon_muxer-design.md
@@ -1,4 +1,4 @@
-# Lateral/Longitudinal Control Muxer {#latlon-muxer-design}
+# Lateral/Longitudinal Control Muxer
 
 ## Purpose
 
diff --git a/control/trajectory_follower_nodes/design/longitudinal_controller-design.md b/control/trajectory_follower_nodes/design/longitudinal_controller-design.md
@@ -1,4 +1,4 @@
-# Longitudinal Controller {#longitudinal-controller-design}
+# Longitudinal Controller
 
 ## Purpose / Use cases
 
diff --git a/control/trajectory_follower_nodes/design/trajectory_follower-design.md b/control/trajectory_follower_nodes/design/trajectory_follower-design.md
@@ -1,4 +1,4 @@
-# Trajectory Follower Nodes {#trajectory_follower_nodes-package-design}
+# Trajectory Follower Nodes
 
 ## Purpose
 
@@ -8,12 +8,12 @@ Generate control commands to follow a given Trajectory.
 
 This functionality is decomposed into three nodes.
 
-- @subpage lateral-controller-design : generates lateral control messages.
-- @subpage longitudinal-controller-design : generates longitudinal control messages.
-- @subpage latlon-muxer-design : combines the lateral and longitudinal control commands
+- [lateral-controller-design](lateral_controller-design.md) : generates lateral control messages.
+- [longitudinal-controller-design](longitudinal_controller-design.md) : generates longitudinal control messages.
+- [latlon-muxer-design](latlon_muxer-design.md) : combines the lateral and longitudinal control commands
   into a single control command.
 
-Core functionalities are implemented in the @subpage trajectory_follower-package-design package.
+Core functionalities are implemented in the [trajectory_follower](../../trajectory_follower/design/trajectory_follower-design.md#trajectory-follower) package.
 
 @image html images/trajectory_follower-diagram.png "Overview of the Trajectory Follower package"
 
diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md
@@ -8,6 +8,8 @@ This package detects 2D bounding boxes for target objects e.g., cars, trucks, bi
 
 ### Cite
 
+<!-- cspell:ignore Redmon, Farhadi, Bochkovskiy, Jocher, ultralytics, Roboflow, Zenodo -->
+
 yolov3
 
 Redmon, J., & Farhadi, A. (2018). Yolov3: An incremental improvement. arXiv preprint arXiv:1804.02767.
diff --git a/planning/behavior_velocity_planner/occlusion-spot-design.md b/planning/behavior_velocity_planner/occlusion-spot-design.md
@@ -100,7 +100,7 @@ obstacle that can run out from occlusion should have free space until intersecti
 
 ##### Possible Collision
 
-obstacle that can run out from occlusion is interruped by moving vehicle.
+obstacle that can run out from occlusion is interrupted by moving vehicle.
 ![brief](./docs/occlusion_spot/raycast_shadow.drawio.svg)
 
 #### Module Parameters
diff --git a/simulator/simple_planning_simulator/design/simple_planning_simulator-design.md b/simulator/simple_planning_simulator/design/simple_planning_simulator-design.md
@@ -1,4 +1,4 @@
-# simple_planning_simulator {#simple_planning_simulator-package-design}
+# simple_planning_simulator
 
 ## Purpose / Use cases
 

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# Comparisons {#helper-comparisons}`
	`1`	`+# Comparisons`
`2`	`2`
`3`	`3`	The `float_comparisons.hpp` library is a simple set of functions for performing approximate numerical comparisons.
`4`	`4`	There are separate functions for performing comparisons using absolute bounds and relative bounds. Absolute comparison checks are prefixed with `abs_` and relative checks are prefixed with `rel_`.
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# Interval {#geometry-interval}`
	`1`	`+# Interval`
`2`	`2`
`3`	`3`	`The interval is a standard 1D real-valued interval.`
`4`	`4`	`The class implements a representation and operations on the interval type and guarantees interval validity on construction.`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# 2D Convex Polygon Intersection {#convex-polygon-intersection-2d}`
	`1`	`+# 2D Convex Polygon Intersection`
`2`	`2`
`3`	`3`	`Two convex polygon's intersection can be visualized on the image below as the blue area:`
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# autoware_testing {#autoware_testing-package-design}`
	`1`	`+# autoware_testing`
`2`	`2`
`3`	`3`	This is the design document for the `autoware_testing` package.
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# Fake Test Node {#fake-test-node-design}`
	`1`	`+# Fake Test Node`
`2`	`2`
`3`	`3`	`## What this package provides`
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# Interface for the OSQP library {#osqp_interface-package-design}`
	`1`	`+# Interface for the OSQP library`
`2`	`2`
`3`	`3`	This is the design document for the `osqp_interface` package.
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# PID (Trajectory Follower) {#trajectory_follower-pid-design}`
	`1`	`+# PID (Trajectory Follower)`
`2`	`2`
`3`	`3`	This is the design document for the PID implemented in the `trajectory_follower` package.
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# Lateral/Longitudinal Control Muxer {#latlon-muxer-design}`
	`1`	`+# Lateral/Longitudinal Control Muxer`
`2`	`2`
`3`	`3`	`## Purpose`
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# Longitudinal Controller {#longitudinal-controller-design}`
	`1`	`+# Longitudinal Controller`
`2`	`2`
`3`	`3`	`## Purpose / Use cases`
`4`	`4`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-# simple_planning_simulator {#simple_planning_simulator-package-design}`
	`1`	`+# simple_planning_simulator`
`2`	`2`
`3`	`3`	`## Purpose / Use cases`
`4`	`4`