docs(04_launch_application): add sensor_height description (#11)

Signed-off-by: Manato HIRABAYASHI <[email protected]>
tier4 · Nov 2, 2023 · 86ff2ff · 86ff2ff
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diff --git a/docs/tutorials/04_launch_application.md b/docs/tutorials/04_launch_application.md
@@ -30,13 +30,19 @@ See the READMEs of these packages for more detail.
 The following sample launches LiDAR-based object detection and bounding-box-level fusion (i.e. late fusion) between 2D and 3D object detection.
 Launch the launch file that matches your LiDAR setup.
 
+![demo_construction](figures/demo_construction.drawio.svg "demo_construction.svg")
+
+The launch files can take an argument named `sensor_height` that represents LiDAR height from the ground in meters (default: 1.0).
+Because some functions in Auoware are designed to perform best using previously known LiDAR height,
+it is recommended to adjust this value according to your actual sensor setup to acquire better performance.
+
 ```sh
 cd edge-auto
 source install/setup.bash
 
-ros2 launch edge_auto_launch perception_at128_sample.launch.xml
+ros2 launch edge_auto_launch perception_at128_sample.launch.xml sensor_height:=[sensor height from the ground]
 ## or
-ros2 launch edge_auto_launch perception_xt32_sample.launch.xml
+ros2 launch edge_auto_launch perception_xt32_sample.launch.xml sensor_height:=[sensor height from the ground]
 ```
 
 This sample mainly leverages [pointcloud_preprocessor](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/pointcloud_preprocessor), [centerpoint](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/lidar_centerpoint), and [image_projection_based_fusion](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/image_projection_based_fusion) packages

diff --git a/docs/tutorials/figures/demo_construction.drawio.svg b/docs/tutorials/figures/demo_construction.drawio.svg