fixed readme

Author: mraditya01

simulator/carla_autoware/README.md

@@ -1,19 +1,19 @@
 # CARLA Autoware
 
-# ROS2/Autoware.universe bridge for CARLA simulator
+## ROS2/Autoware.universe bridge for CARLA simulator
 
 Thanks to <https://github.com/gezp> for ROS2 Humble support for CARLA Communication.
 This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
 
-# Supported Environment
+## Supported Environment
 
 | ubuntu |  ros   | carla  | autoware |
 | :----: | :----: | :----: | :------: |
 | 22.04  | humble | 0.9.15 | 2024.04  |
 
-# Setup
+## Setup
 
-## install
+### Install
 
 - [CARLA Installation](https://carla.readthedocs.io/en/latest/start_quickstart/)
 - [Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/)
@@ -26,41 +26,41 @@ This ros package enables communication between Autoware and CARLA for autonomous
 2. Change names and create the map folder (example: Town01) inside `autoware_map`. (`point_cloud/Town01.pcd` -> `autoware_map/Town01/pointcloud_map.pcd`, `vector_maps/lanelet2/Town01.osm`-> `autoware_map/Town01/lanelet2_map.osm`)
 3. Create `map_projector_info.yaml` and add `projector_type: local` on the first line.
 
-## Build
+### Build
 
 ```bash
 cd colcon_ws
 colcon build --symlink-install
 ```
 
-# Run
+### Run
 
 1. Run carla, change map, spawn object if you need
 
-```bash
-cd CARLA
-./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
-```
+   ```bash
+   cd CARLA
+   ./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
+   ```
 
 2. Run ros nodes
 
-```bash
-ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
-```
+   ```bash
+   ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
+   ```
 
 3. Set initial pose (Init by GNSS)
 4. Set goal position
 5. Wait for planning
 6. Engage
 
-# Tips
+### Tips
 
 - If you want to edit the sensors configuration used in CARLA, edit `objects.json` located in `carla_autoware/config`. Make sure the sensor configuration is the same as the `sensor_kit` description used in Autoware.
 - Misalignment might occurs during initialization, pressing `init by gnss` button should fix it.
 - Sensor frequency can be changed on `carla_ros.py` Line 67.
 - Changing the `fixed_delta_seconds` can increase the simulation tick (clock), some sensors params in `objects.json` need to be adjusted when it is changed (example: LIDAR rotation frequency have to match the FPS).
 
-# Known Issues and Future Works
+### Known Issues and Future Works
 
 - Testing on procedural map (Adv Digital Twin).
 - Automatic sensor configuration of the CARLA sensors from the Autoware sensor kit.