update readme

Author: brkay54

tools/reaction_analyzer/README.md

@@ -1,55 +1,65 @@
 # Reaction Analyzer
 
-The main purpose of the reaction analayzer package is measuring reaction times of the nodes by listening the output
+The main purpose of the reaction analyzer package is measuring reaction times of the nodes by listening the
+pre-determined output
 topics.
 
 ## Design For Psim
 
 ![PsimObserver.png](media%2FPsimObserver.png)
 
+Two main modules are running: Spawner and Observer.
+
 ### Spawner
 
-The main purpose of the `Spawner` is to create the entities within a condition. The `Spawner` takes the object
+The main purpose of the `Spawner` is imitating the perception pipeline outputs by creating the entities within a
+condition. The `Spawner` takes the object
 and ego pose as inputs, and it creates obstacles with respect to position and orientation of center of mass and
 dimension of the objects. After creating pointcloud and predicted objects, it waits for `Spawn Conditioning Mechanism`
 to publish the messages to topics.
 
 **Spawn Conditioning Mechanism**
 Distance_between_ref_point_and_ego < some_threshold -> spawn obstacle
 
-### RosObserver
+### Observer
 
-The `RosObserver Node` is responsible for watching the messages inside the topics by subscription and analyze them to
+The `Observer` is responsible for watching the messages inside the pre-determined topics by subscription and analyze
+them to
 understand node is reacted or not. After `Spawner` publishes the Entities, it activates the observer's search functions.
-For the PSim, after `Spawner` activates the `RosObserver`, it detects reaction messages and measure reaction time.
-Currently, it measures following durations:
+For the PSim, after `Spawner` activates the `Observer`, it detects reaction messages and measure reaction time.
+Currently, it supports following message types:
 
-- Duration between spawn_cmd_time - trajectory_follower reaction
-- Duration between trajectory_follower - vehicle_cmd_gate reaction
+- autoware_auto_control_msgs::msg::AckermannControlCommand
+- autoware_auto_planning_msgs::msg::Trajectory
 
 ### Usage
 
-Firstly, we need to set obstacle position to reaction_analyzer parameter file. Reaction_analyzer takes entity's map
-position. After deciding which map will be used, you can upload your map to scenario_editor, and put an entity to
-lanelet map. Then, convert the coordinate frame to map, you can see the entity's position in the map frame. Save the
-position, orientation, and dimensions to parameter file of the node.
+Download the demonstration test map from the link here:
+https://drive.google.com/file/d/1zHdSazcH9uQvw1Afj_6TL9N8d7_Z88Yu/view?usp=sharing
+
+If you want to make this test on another map, you need to arrange the test environment variables in parameter file. To
+do this:
+
+- Upload your map to scenario_editor
+- Locate the ego, entity, and goal pose
+- After locate necessary entities, change coordinate to world and orientation to euler from map section of scenario
+  editor.
+- Change initial position, goal position, and entity's position and dimension in parameter file w.r.t. values in
+  scenario editor.
+
+For quick test, you can use the default parameter values with the map shared above.
 
 After entity parameters are set into parameter file, you can start to test. To do this:
 
 - Launch PSim.
 
 `ros2 launch autoware_launch planning_simulator.launch.xml map_path:=[MAP_PATH] vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit`
 
-- Initialize the EGO in your test area and set a goal behind the entity.
 - Launch `reaction_analyzer.launch.xml`
 
 `ros2 launch reaction_analyzer reaction_analyzer.launch.xml`
 
-- Set the Autonomous Driving Mode and wait until the Spawner is triggered, after it spawns the obstacles, you can see the reaction durations in the
-  terminal.
-- For the next test, re-open the reaction_analyzer.
+- Reaction analyzer initializes the test environment, and starts to test automatically.
 
-**PS**: While running the reaction_analyzer, you should be sure that dummy_perception and other perception modules are
-not running. In current branch of the package, all perception related modules are removed from the simulator launch
-file (src/universe/autoware.universe/launch/tier4_simulator_launch/launch/simulator.launch.xml), and you can start PSim
-directly.
+**PS**: This tool is currently under development. To do better measurements, some temporarily commits for other packages
+are added to branch. After checkout the branch, build all the Autoware before launch reaction analyzer.