diff --git a/.github/workflows/documentation_link_check.yml b/.github/workflows/documentation_link_check.yml
deleted file mode 100644
index 2648a43..0000000
--- a/.github/workflows/documentation_link_check.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: documentation_link_check
-
-on:
- repository_dispatch:
- workflow_dispatch:
- schedule:
- - cron: 0 0 * * *
- pull_request:
-
-jobs:
- link_checker:
- runs-on: ubuntu-latest
- steps:
- - uses: actions/checkout@v3
-
- - name: Link Checker
- id: lychee
- uses: lycheeverse/lychee-action@v1.5.0
- with:
- fail: true
- args: "--verbose --no-progress './**/*.md' './**/*.html' --timeout 1000 --max-concurrency 32 -T 1 --retry-wait-time 10"
- env:
- GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
diff --git a/docs/Introduction/AWSIM-Autoware Integration/.$autoware_awsim_sequence_draw.drawio.bkp b/docs/Introduction/AWSIM-Autoware Integration/.$autoware_awsim_sequence_draw.drawio.bkp
new file mode 100644
index 0000000..7a6b64c
--- /dev/null
+++ b/docs/Introduction/AWSIM-Autoware Integration/.$autoware_awsim_sequence_draw.drawio.bkp
@@ -0,0 +1,339 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM-Autoware Integration/.$awsim_autoware_draw.drawio.bkp b/docs/Introduction/AWSIM-Autoware Integration/.$awsim_autoware_draw.drawio.bkp
new file mode 100644
index 0000000..8a3114a
--- /dev/null
+++ b/docs/Introduction/AWSIM-Autoware Integration/.$awsim_autoware_draw.drawio.bkp
@@ -0,0 +1,456 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM-Autoware Integration/autoware_awsim_sequence_dt.png b/docs/Introduction/AWSIM-Autoware Integration/autoware_awsim_sequence_dt.png
new file mode 100644
index 0000000..8f80b66
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/autoware_awsim_sequence_dt.png differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/autoware_awsim_sequence_dt_draw.drawio b/docs/Introduction/AWSIM-Autoware Integration/autoware_awsim_sequence_dt_draw.drawio
new file mode 100644
index 0000000..2ff9513
--- /dev/null
+++ b/docs/Introduction/AWSIM-Autoware Integration/autoware_awsim_sequence_dt_draw.drawio
@@ -0,0 +1,132 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM-Autoware Integration/awsim_autoware_dt.png b/docs/Introduction/AWSIM-Autoware Integration/awsim_autoware_dt.png
new file mode 100644
index 0000000..e136517
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/awsim_autoware_dt.png differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/awsim_autoware_dt_draw.drawio b/docs/Introduction/AWSIM-Autoware Integration/awsim_autoware_dt_draw.drawio
new file mode 100644
index 0000000..9ae99ab
--- /dev/null
+++ b/docs/Introduction/AWSIM-Autoware Integration/awsim_autoware_dt_draw.drawio
@@ -0,0 +1,172 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM-Autoware Integration/awsim_video.mp4 b/docs/Introduction/AWSIM-Autoware Integration/awsim_video.mp4
new file mode 100644
index 0000000..b3bf86a
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/awsim_video.mp4 differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/features/PointCloud_Conversion.mp4 b/docs/Introduction/AWSIM-Autoware Integration/features/PointCloud_Conversion.mp4
new file mode 100644
index 0000000..333fe26
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/features/PointCloud_Conversion.mp4 differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/features/Real-time_Simulation.mp4 b/docs/Introduction/AWSIM-Autoware Integration/features/Real-time_Simulation.mp4
new file mode 100644
index 0000000..6f6b89e
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/features/Real-time_Simulation.mp4 differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/index.md b/docs/Introduction/AWSIM-Autoware Integration/index.md
new file mode 100644
index 0000000..071a492
--- /dev/null
+++ b/docs/Introduction/AWSIM-Autoware Integration/index.md
@@ -0,0 +1,58 @@
+
+
+
+[*Autoware*](../Autoware/) is a robust open-source software suite designed for autonomous driving. Featuring a modular design that includes perception, localization, planning, and control modules, it offers a comprehensive solution for developing self-driving vehicles. When integrated with the [*AWSIM*](../AWSIM/) simulator, *Autoware* enables safe testing, validation, and refinement of autonomous driving algorithms across a variety of scenarios. This combination can also be used for the simulation of real-world traffic conditions, thereby increasing the realism of the simulated environment and improving validation accuracy for autonomous vehicle testing.
+
+
+!!! note "Run with Autoware"
+ If you would like to know how to run *AWSIM* with *Autoware*, we encourage you to read this [section](../../GettingStarted/QuickStartDemo/).
+
+
+## Features
+The combination of *Autoware* and *AWSIM* provides the opportunity to check the correctness of the vehicle's behavior in various traffic situations. [Here](https://tier4.github.io/AWSIM/Introduction/CombinationWithAutoware/#features) are presented some typical features provided by this combination. Moreover, examples of detecting several bad behaviors are included. Below are some extended features for the *Digital Twin* branch.
+### *.pcap Recording to PointCloud2 Publisher
+All *.pcap LiDAR recordings can be converted to [ROS2 PointCloud2 messages](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html).
+
+
+### Real-Time Object Detection and Tracking using Autoware
+
+
+### Traffic Simulation in AWSIM
+
+
+## Combination Architecture
+
+
+The combination of *AWSIM* with *Autoware* in *AUT_DT* is possible thanks to the *Perception* module of [*Autoware*](../Autoware/) architecture. The component responsible for ensuring connection with these modules from the *AWSIM* side is `DetectionSubscriber`. It has been adapted to the *Autoware* architecture and provides *ROS2* topic-based communication. However, the other essential component is the `ROS2 PointCloud2 Publisher`, which provides ROS2-based PointCloud data to *Autoware*.
+
+The `ROS2 PointCloud2 Publisher` component provides the publication of the current LiDAR frame through a script written by Python. It provides real-time information such as: current frame timestamp, current frame pointcloud data.
+
+On the other hand, the `Sensing` component is responsible for subscribing to the ROS2 Pointcloud2 topic from *Autoware*. It subscribes to the current stream of LiDAR data, whether its recorded data or streaming data.
+
+The processing of the recieved data is done by the `Perception` component. This component will detect the current 3D objects in the scene and track them, providing important information about the detected objects such as: ObjectID, Object Class, Object Position relative to the LiDAR coordinate frame, Object Orientation, Object's Twist parameters (Kinematics).
+
+Currently, there are no data pipelines from *AWSIM* to *Autoware*.
+
+More about `AWSIM` and its original combination architecture is described in [this link](https://tier4.github.io/AWSIM/Introduction/CombinationWithAutoware/#combination-architecture)
+
+### Sequence diagram
+Below is a simplified sequential diagram of information exchange in connection between *ROS2 PointCloud2 Publisher*, *AWSIM* and *Autoware*. As you can see, the first essential information is the [tf2](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html) parameters of the LiDAR coordinate frame (base-link) relative to the **map coordinate frame** and **viewer coordinate frame**, which are manually given to *Autoware*. These parameters are used in the process of automatic position initialization on *Autoware* side, and play a vital role in the perception module. At the same time, the simulation on *AWSIM* side is updated.
+
+Next in the diagram is the main information update loop in which:
+
+- During each cycle there is a PointCloud2 data being published from *ROS2 PointCloud2 Publisher*.
+- The PointCloud2 data topic is then collected by a subscriber from the `Sensing` component of *Autoware*. The `Perception` component will process the LiDAR pointcloud and publish the `Tracked Objects` data.
+- The `DetectionSubscriber` from the *AWSIM* side, subscribes to the `Tracked Objects` topic and recieves the data. After processing, each detected vehicle will either get spawned or updated based on it's ID.
+
+The order of information exchange presented in the diagram is a simplification. The exchange of information takes place through the publish-subscribe model and each data is sent with a predefined frequency.
+
+
+
diff --git a/docs/Introduction/AWSIM-Autoware Integration/stop_red.gif b/docs/Introduction/AWSIM-Autoware Integration/stop_red.gif
new file mode 100644
index 0000000..c3c7a6f
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/stop_red.gif differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/straight_green.gif b/docs/Introduction/AWSIM-Autoware Integration/straight_green.gif
new file mode 100644
index 0000000..120c62d
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/straight_green.gif differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/straight_yellow.gif b/docs/Introduction/AWSIM-Autoware Integration/straight_yellow.gif
new file mode 100644
index 0000000..67ff567
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/straight_yellow.gif differ
diff --git a/docs/Introduction/AWSIM-Autoware Integration/turn_green.gif b/docs/Introduction/AWSIM-Autoware Integration/turn_green.gif
new file mode 100644
index 0000000..4a71aed
Binary files /dev/null and b/docs/Introduction/AWSIM-Autoware Integration/turn_green.gif differ
diff --git a/docs/Introduction/AWSIM/.$awsim_draw.drawio.bkp b/docs/Introduction/AWSIM/.$awsim_draw.drawio.bkp
new file mode 100644
index 0000000..5ec1ba2
--- /dev/null
+++ b/docs/Introduction/AWSIM/.$awsim_draw.drawio.bkp
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM/amirkabir_dt.drawio b/docs/Introduction/AWSIM/amirkabir_dt.drawio
new file mode 100644
index 0000000..ea038bf
--- /dev/null
+++ b/docs/Introduction/AWSIM/amirkabir_dt.drawio
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM/amirkabir_dt.png b/docs/Introduction/AWSIM/amirkabir_dt.png
new file mode 100644
index 0000000..3a37546
Binary files /dev/null and b/docs/Introduction/AWSIM/amirkabir_dt.png differ
diff --git a/docs/Introduction/AWSIM/awsim.png b/docs/Introduction/AWSIM/awsim.png
new file mode 100644
index 0000000..e1d30b5
Binary files /dev/null and b/docs/Introduction/AWSIM/awsim.png differ
diff --git a/docs/Introduction/AWSIM/awsim_draw.drawio b/docs/Introduction/AWSIM/awsim_draw.drawio
new file mode 100644
index 0000000..5ec1ba2
--- /dev/null
+++ b/docs/Introduction/AWSIM/awsim_draw.drawio
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/AWSIM/awsim_video.mp4 b/docs/Introduction/AWSIM/awsim_video.mp4
new file mode 100644
index 0000000..8f72e5e
Binary files /dev/null and b/docs/Introduction/AWSIM/awsim_video.mp4 differ
diff --git a/docs/Introduction/AWSIM/index.md b/docs/Introduction/AWSIM/index.md
new file mode 100644
index 0000000..8660e1f
--- /dev/null
+++ b/docs/Introduction/AWSIM/index.md
@@ -0,0 +1,35 @@
+# AWSIM
+
+[*AWSIM*](https://github.com/tier4/AWSIM) is an open-source simulator made with [*Unity*](https://unity.com/) for autonomous driving research and development.
+It is developed for self-driving software like [*Autoware*](../Autoware/). This simulator aims to bridge the gap between the virtual and real worlds, enabling users to train and evaluate their autonomous systems in a safe and controlled environment before deploying them on real vehicles. It provides a realistic virtual environment for training, testing, and evaluating various aspects of autonomous driving systems.
+
+*AWSIM* simulates a variety of real-world scenarios, with accurate physics and sensor models. It offers a wide range of sensors, such as: *Cameras*, *GNSS*, *IMU* and *LiDARs*, allowing developers to simulate their autonomous vehicle's interactions with the environment accurately. The simulator also models dynamic objects, such as pedestrians, other vehicles, and traffic lights, making it possible to study interactions and decision-making in complex traffic scenarios. This enables the testing and evaluation of perception, planning, and control algorithms under different sensor configurations and scenarios.
+
+*AWSIM* supports a flexible and modular architecture, making it easy to customize and extend its capabilities. Users can modify the current or add a new environment with their own assets and traffic rules to create custom scenarios to suit their specific research needs. This allows for the development and testing of advanced algorithms in diverse driving conditions.
+
+Because *AWSIM* was developed mainly to work with [*Autoware*](../Autoware/), it supports:
+
+- *Ubuntu 22.04* and *Windows 10/11*
+- [*ROS2*](https://docs.ros.org/en/humble/index.html) Humble distribution
+
+!!! note "Prerequisites"
+ You can read more about the prerequisites and running *AWSIM* [here](../../GettingStarted/QuickStartDemo/#pc-specs).
+
+
+!!! note "Connection with Autoware"
+ Introduction about how the connection between *AWSIM* and *Autoware* works can be read [here](../AWSIM-Autoware Integration/).
+
+## Architecture
+
+
+To describe the architecture of *AWSIM*, first of all, it is necessary to mention the `Scene`. It contains all the objects occurring in the simulation of a specific scenario and their configurations. The default *AWSIM* scene that is developed to work with [*Autoware*](https://github.com/autowarefoundation/autoware) is called *AutowareSimulation*. For more information, click [here](https://tier4.github.io/AWSIM/Introduction/AWSIM/#architecture).
+
+
+
+The primary *AUT_DT* scene, developed specifically for DT research, is named *Amirkabir_DT_Scene*. This scene serves as a [sample scene](https://tier4.github.io/AWSIM/ProjectGuide/Scenes/). Its key component is the `DetectionSubscriber` object. This object subscribes to the [Perception](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/perception/) module of *Autoware* and retrieves real-time detected objects from streaming LiDAR data. The next important object is the `SpawnPoint` which should always be the location of the static LiDAR recording the real-world environment.
+
+
+## Refrences
+[https://tier4.github.io/AWSIM/Introduction/AWSIM/](https://tier4.github.io/AWSIM/Introduction/AWSIM/)
\ No newline at end of file
diff --git a/docs/Introduction/Autoware/autoware.drawio b/docs/Introduction/Autoware/autoware.drawio
new file mode 100644
index 0000000..4b0063d
--- /dev/null
+++ b/docs/Introduction/Autoware/autoware.drawio
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/Autoware/autoware.png b/docs/Introduction/Autoware/autoware.png
new file mode 100644
index 0000000..6f0f752
Binary files /dev/null and b/docs/Introduction/Autoware/autoware.png differ
diff --git a/docs/Introduction/Autoware/autoware_ss.png b/docs/Introduction/Autoware/autoware_ss.png
new file mode 100644
index 0000000..099d183
Binary files /dev/null and b/docs/Introduction/Autoware/autoware_ss.png differ
diff --git a/docs/Introduction/Autoware/index.md b/docs/Introduction/Autoware/index.md
new file mode 100644
index 0000000..62fb4cc
--- /dev/null
+++ b/docs/Introduction/Autoware/index.md
@@ -0,0 +1,38 @@
+# Autoware
+
+
+[*Autoware*](https://github.com/autowarefoundation/autoware) is an open-source software platform specifically designed for autonomous driving applications. It was created to provide a comprehensive framework for developing and testing autonomous vehicle systems. [*Autoware*](https://github.com/autowarefoundation/autoware) offers a collection of modules and libraries that assist in various tasks related to perception, planning, and control, making it easier for researchers and developers to build autonomous driving systems.
+
+The primary purpose of [*Autoware*](https://github.com/autowarefoundation/autoware) is to enable the development of self-driving technologies by providing a robust and flexible platform. It aims to accelerate the research and deployment of autonomous vehicles by offering a ready-to-use software stack. [*Autoware*](https://github.com/autowarefoundation/autoware) focuses on urban driving scenarios and supports various sensors such as *LiDAR*, *Radars*, and *Cameras*, allowing for perception of the vehicle's surroundings.
+
+
+#### Why use AWSIM with Autoware?
+
+[*Autoware*](https://github.com/autowarefoundation/autoware) can be used with a *AWSIM* for several reasons. Firstly, simulators like *AWSIM* provide a cost-effective and safe environment for testing and validating autonomous driving algorithms before deploying them on real vehicles. *Autoware's* integration with a simulator allows developers to evaluate and fine-tune their algorithms without the risk of real-world accidents or damage.
+
+Additionally, simulators enable developers to recreate complex driving scenarios, including difficult conditions or rare events, which may be difficult to replicate in real-world testing with such high fidelity. *Autoware's* compatibility with a *AWSIM* allows seamless integration between the software and the simulated vehicle, enabling comprehensive testing and validation of autonomous driving capabilities. By utilizing a simulator, [*Autoware*](https://github.com/autowarefoundation/autoware) can be extensively tested under various scenarios to ensure its robustness and reliability.
+
+## Architecture
+
+
+
+
+In terms of architecture, [*Autoware*](https://github.com/autowarefoundation/autoware) follows a modular approach. It consists of multiple independent modules that communicate with each other through a *ROS2*. This modular structure allowing users to select and combine different modules based on their specific needs and requirements. The software stack comprises multiple components, including perception, localization, planning, and control modules. Here's a brief overview of each module:
+
+- *Sensing* - acquires data from sensors different sensors mounted on the autonomous vehicle such as *LiDARs*, *GNSS*, *IMU* and *cameras*. It pre-processing received data in order to later extract relevant information about the surrounding environment through the *Perception* module or about vehicle location by the *Localization* module.
+More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/).
+
+- *Perception* - performs advanced processing of sensor data (*LiDARs*, *cameras*) to extract meaningful information about the surrounding environment. It performs tasks like object detection (other vehicles, pedestrians), lane detection, and traffic lights recognition. More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/perception/).
+
+- *Localization* - performs a fusion of data from *Sensing* module like *LiDAR*, *GNSS*, *IMU*, and odometry sensors to estimate the vehicle's position and orientation accurately. More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/localization/).
+
+- *Planning* - generates a safe and feasible trajectory for the autonomous vehicle based on the information gathered from *Perception* and *Localization*. It also takes into account various factors from *Map* like traffic rules and road conditions. More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/).
+
+- *Control* - executes the planned trajectory by sending commands to the vehicle's actuators, such as steering, throttle, and braking. It ensures that the vehicle follows the desired trajectory while maintaining safety and stability. More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/control/).
+
+- *Vehicle Interface* - is a crucial component that enables communication and interaction between [*Autoware*](https://github.com/autowarefoundation/autoware) software system and a vehicle. It facilitates the exchange of control signals and vehicle information necessary for autonomous driving operations. The vehicle interface ensures that [*Autoware*](https://github.com/autowarefoundation/autoware) can send commands to the vehicle, such as acceleration, braking, and steering, while also receiving real-time data from the vehicle, such as speed, position, and sensors data. It acts as a bridge, allowing [*Autoware*](https://github.com/autowarefoundation/autoware) to seamlessly interface with the specific characteristics and requirements of the vehicle it is operating with. More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/vehicle/).
+
+- *Map* - the map module creates and maintains a representation of the environment in which the autonomous vehicle operates. It combines data from *Lanelet2* (`*.osm`) and *PointCloud* (`*.pcd`) to generate a detailed map. The map contains information about road geometries, lane markings, traffic lights, rules, and other relevant features. Map serves as a crucial reference for planning and decision-making processes. More details [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/).
+
+## Source
+[https://tier4.github.io/AWSIM/Introduction/Autoware/](https://tier4.github.io/AWSIM/Introduction/Autoware/)
\ No newline at end of file
diff --git a/docs/Introduction/Autoware_DT/3D_Detection_Tracking.mp4 b/docs/Introduction/Autoware_DT/3D_Detection_Tracking.mp4
new file mode 100644
index 0000000..3800ca4
Binary files /dev/null and b/docs/Introduction/Autoware_DT/3D_Detection_Tracking.mp4 differ
diff --git a/docs/Introduction/Autoware_DT/autoware_digital_twin.drawio b/docs/Introduction/Autoware_DT/autoware_digital_twin.drawio
new file mode 100644
index 0000000..9e1b5c8
--- /dev/null
+++ b/docs/Introduction/Autoware_DT/autoware_digital_twin.drawio
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/Introduction/Autoware_DT/autoware_digital_twin.png b/docs/Introduction/Autoware_DT/autoware_digital_twin.png
new file mode 100644
index 0000000..4ee4a55
Binary files /dev/null and b/docs/Introduction/Autoware_DT/autoware_digital_twin.png differ
diff --git a/docs/Introduction/Autoware_DT/autoware_digital_twin_ss.png b/docs/Introduction/Autoware_DT/autoware_digital_twin_ss.png
new file mode 100644
index 0000000..2750c35
Binary files /dev/null and b/docs/Introduction/Autoware_DT/autoware_digital_twin_ss.png differ
diff --git a/docs/Introduction/Autoware_DT/index.md b/docs/Introduction/Autoware_DT/index.md
new file mode 100644
index 0000000..00cec69
--- /dev/null
+++ b/docs/Introduction/Autoware_DT/index.md
@@ -0,0 +1,16 @@
+# Autoware - Digital Twin Branch
+
+
+
+The [Autoware Digital Twin](https://github.com/rzninvo/autoware/tree/digital_twin) branch, tailored for AUT_DT research, is a streamlined variant of [Autoware](https://github.com/autowarefoundation/autoware). This specialized version includes the **Perception**, **Map**, and **Sensing** modules, with the **Perception** module playing a pivotal role by housing all of Autoware's 3D Detection and Tracking algorithms.
+
+!!! note "AWSIM and Autoware Integration"
+ Learn about the integration of AWSIM and Autoware [here](../AWSIM-Autoware Integration/).
+
+## Architecture
+
+
+!!! note "ROS2 PointCloud2 Publisher"
+ In the absence of an [Ego Vehicle](https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/) in this research, PointCloud data, typically received from AWSIM's Ego Vehicle, must be manually published to the **Sensing** module using recorded or real-time LiDAR data. Click [here](../../GettingStarted/QuickStartDemo/#launching-aut-dts-specific-sample-data-publisher) to see an example.
\ No newline at end of file
diff --git a/mkdocs.yml b/mkdocs.yml
index e3b64a7..93ded39 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -39,10 +39,11 @@ nav:
- Quick Start Demo: GettingStarted/QuickStartDemo/index.md
- Setup Unity Project: GettingStarted/SetupUnityProject/index.md
- # - Introduction:
- # - Autoware: Introduction/Autoware/index.md
- # - AWSIM: Introduction/AWSIM/index.md
- # - CombinationWithAutoware: Introduction/CombinationWithAutoware/index.md
+ - Introduction:
+ - Autoware: Introduction/Autoware/index.md
+ - Autoware - Digital Twin Branch: Introduction/Autoware_DT/index.md
+ - AWSIM: Introduction/AWSIM/index.md
+ - AWSIM-Autoware Integration: Introduction/AWSIM-Autoware Integration/index.md
# - Project guide:
# - Directory: ProjectGuide/Directory/index.md