added map guides towns 1-7

Docs/catalogue.md

@@ -14,22 +14,22 @@ The CARLA simulator provides 10 pre-built maps to choose from, providing a diver
 
 | Town       | Summary |
 | -----------| ------  |
-| **[Town01](img/Town01.jpg)** | A basic town layout consisting of "T junctions".|
-| **[Town02](img/Town02.jpg)** | Similar to **Town01**, but smaller.|
-| **[Town03](img/Town03.jpg)** | The most complex town, with a 5-lane junction, a roundabout, unevenness, a tunnel, and more.|
-| **[Town04](img/Town04.jpg)** | An infinite loop with a highway and a small town.|
-| **[Town05](img/Town05.jpg)** | Squared-grid town with cross junctions and a bridge. It has multiple lanes per direction. Useful to perform lane changes.  |
-| **[Town06](img/Town06.jpg)** | Long highways with many highway entrances and exits. It also has a [**Michigan left**](<https://en.wikipedia.org/wiki/Michigan_left>). |
-| **[Town07](img/Town07.jpg)** | A rural environment with narrow roads, barns and hardly any traffic lights. |
+| [__Town01__](map_town01.md)  | A small, simple town with a river and several bridges.|
+| [__Town02__](map_town02.md) | A small simple town with a mixture of residential and commercial buildings.|
+| [__Town03__](map_town03.md) | A larger, urban map with a roundabout and large junctions.|
+| [__Town04__](map_town04.md) | A small town embedded in the mountains with a special "figure of 8" *infinite* highway.|
+| [__Town05__](map_town05.md) | Squared-grid town with cross junctions and a bridge. It has multiple lanes per direction. Useful to perform lane changes.  |
+| [__Town06__](map_town06.md) | Long many lane highways with many highway entrances and exits. It also has a [**Michigan left**](<https://en.wikipedia.org/wiki/Michigan_left>). |
+| [__Town07__](map_town07.md) | A rural environment with narrow roads, corn, barns and hardly any traffic lights. |
 | **Town08** | Secret "unseen" town used for the [Leaderboard](https://leaderboard.carla.org/) challenge |
 | **Town09** | Secret "unseen" town used for the [Leaderboard](https://leaderboard.carla.org/) challenge |
-| [__Town10__](map_town10.md) | A downtown urban setting with skyscrapers, residential buildings and an ocean promenade.|
+| [__Town10__](map_town10.md) | A downtown urban environment with skyscrapers, residential buildings and an ocean promenade.|
 | __Town11__ | A Large Map that is undecorated.|
 | [__Town12__](map_town12.md) | A Large Map with numerous different regions, including high-rise, residential and rural environments.|
 
 ## Vehicles
 
-CARLA provides a diverse array of vehicles, with high fidelity models of real world cars, trucks and bikes, for simulating traffic in your simulations. Browse and choose the vehicles you like in the [__vehicle catalogue__](catalogue_vehicles.md).
+CARLA provides a diverse array of vehicles, with high fidelity models of real world cars, trucks and bikes, for replicating traffic in your simulations. Browse and choose the vehicles you like in the [__vehicle catalogue__](catalogue_vehicles.md).
 
 ![vehicles_overview](../img/catalogue/vehicles/vehicles_overview.webp)
 

Docs/core_map.md

@@ -244,14 +244,16 @@ Non-layered maps are shown in the table below (click the town name to see an ove
 
 | Town       | Summary |
 | -----------| ------  |
-| **[Town01](img/Town01.jpg)** | A basic town layout consisting of "T junctions".|
-| **[Town02](img/Town02.jpg)** | Similar to **Town01**, but smaller.|
-| **[Town03](img/Town03.jpg)** | The most complex town, with a 5-lane junction, a roundabout, unevenness, a tunnel, and more.|
-| **[Town04](img/Town04.jpg)** | An infinite loop with a highway and a small town.|
-| **[Town05](img/Town05.jpg)** | Squared-grid town with cross junctions and a bridge. It has multiple lanes per direction. Useful to perform lane changes.  |
-| **[Town06](img/Town06.jpg)** | Long highways with many highway entrances and exits. It also has a [**Michigan left**](<https://en.wikipedia.org/wiki/Michigan_left>). |
-| **[Town07](img/Town07.jpg)** | A rural environment with narrow roads, barns and hardly any traffic lights. |
-| **[Town10](img/Town10.jpg)** | A city environment with different environments such as an avenue or promenade, and more realistic textures.|
+| [__Town01__](map_town01.md)  | A small, simple town with a river and several bridges.|
+| [__Town02__](map_town02.md) | A small simple town with a mixture of residential and commercial buildings.|
+| [__Town03__](map_town03.md) | A larger, urban map with a roundabout and large junctions.|
+| [__Town04__](map_town04.md) | A small town embedded in the mountains with a special "figure of 8" *infinite* highway.|
+| [__Town05__](map_town05.md) | Squared-grid town with cross junctions and a bridge. It has multiple lanes per direction. Useful to perform lane changes.  |
+| [__Town06__](map_town06.md) | Long many lane highways with many highway entrances and exits. It also has a [**Michigan left**](<https://en.wikipedia.org/wiki/Michigan_left>). |
+| [__Town07__](map_town07.md) | A rural environment with narrow roads, corn, barns and hardly any traffic lights. |
+| **Town08** | Secret "unseen" town used for the [Leaderboard](https://leaderboard.carla.org/) challenge |
+| **Town09** | Secret "unseen" town used for the [Leaderboard](https://leaderboard.carla.org/) challenge |
+| [__Town10__](map_town10.md) | A downtown urban environment with skyscrapers, residential buildings and an ocean promenade.|
 | __Town11__ | A Large Map that is undecorated.|
 | [__Town12__](map_town12.md) | A Large Map with numerous different regions, including high-rise, residential and rural environments.|
 

Docs/map_town01.md

@@ -0,0 +1,26 @@
+# Town 1
+
+![town_01_slideshow](../img/catalogue/maps/town01/town01_panorama.webp)
+
+Town 1 is a small town with numerous T-junctions and a variety of buildings, surrounded by coniferous trees and featuring several small bridges spanning across a river that divides the town into 2 halves.
+
+## Road network
+
+The road network presents several bridges crossing water and numerous simple T junctions.
+
+![town_01_aerial](../img/catalogue/maps/town01/town01aerial.webp)
+
+## Features
+
+The map features a small river with several crossings. 
+
+![town_01_bridge](../img/catalogue/maps/town01/town01_bridge.webp)
+
+
+There are numerous commercial style buildings.
+
+![town_01_buildings](../img/catalogue/maps/town01/town01_commercial_buildings.webp)
+
+There are also residential buildings.
+
+![town_01_residential](../img/catalogue/maps/town01/town01_residential_buildings.webp)

Docs/map_town02.md

@@ -0,0 +1,30 @@
+# Town 2
+
+![town_02_slideshow](../img/catalogue/maps/town02/town02_panorama.webp)
+
+Town 2 is a small town with numerous T-junctions and a variety of buildings, there are patches of coniferous trees, a park and a residential and commercial area. 
+
+## Road network
+
+The road network consists of numerous simple T junctions.
+
+![town_02_aerial](../img/catalogue/maps/town02/town02aerial.webp)
+
+## Features
+
+The map features a commercial area and high street. 
+
+![town_02_highstreet](../img/catalogue/maps/town02/town02_highstreet.webp)
+
+
+There are also residential apartment buildings and a church.
+
+![town_02_apartments](../img/catalogue/maps/town02/town02_apartments.webp)
+
+There is a gas station.
+
+![town_02_gas_station](../img/catalogue/maps/town02/town02_gas.webp)
+
+There are also tree-lined roads.
+
+![town_02_tree_lined_road](../img/catalogue/maps/town02/town02_tree_road.webp)

Docs/map_town03.md

@@ -0,0 +1,33 @@
+# Town 3
+
+![town_03_slideshow](../img/catalogue/maps/town03/town03_panorama.webp)
+
+Town 3 is a larger town with features of a downtown urban area, including a raised metro track, a roundabout, a construction site and underpasses and overpasses. 
+
+## Road network
+
+The road network features a central roundabout and a residential culdesac, along with numerous 4-way junctions and T-junctions.
+
+![town_03_aerial](../img/catalogue/maps/town03/town03aerial.webp)
+
+## Features
+
+The map features prominent central roundabout with a modernist monument and water. 
+
+![town_03_roundabout](../img/catalogue/maps/town03/town03_roundabout.webp)
+
+There is a raised metro track surrounding the center.
+
+![town_03_metro](../img/catalogue/maps/town03/town03_metro.webp)
+
+There is also a gas station next to a large junction.
+
+![town_03_gas_station](../img/catalogue/maps/town03/town03_junction.webp)
+
+The road network features an underpass.
+
+![town_03_underpass](../img/catalogue/maps/town03/town03_underpass.webp)
+
+There are parks and a variety of commercial and residential buildings in varying styles.
+
+![town_03_overview](../img/catalogue/maps/town03/town03_buildings.webp)

Docs/map_town04.md

@@ -0,0 +1,29 @@
+# Town 4
+
+![town_04_slideshow](../img/catalogue/maps/town04/town04_overhead.webp)
+
+Town 4 is a small town with a backdrop of snow-capped mountains and conifers. A multi-lane road circumnavigates the town in a "figure of 8".   
+
+## Road network
+
+The road network consists of a small network of short streets and junctions nested in between commercial and residential buildings, with a "figure of 8" style ringroad circumnavigating the buildings and a nearby mountain. The cross of the figure of 8 presents an underpass/overpass and circular slip roads. 
+
+![town_04_aerial](../img/catalogue/maps/town04/town04aerial.webp)
+
+The network also features an underpass and overpass with circular slip roads.
+
+![town_04_overpass](../img/catalogue/maps/town04/town04_overpass.webp)
+
+## Features
+
+There is a gas station set against the mountainous backdrop.
+
+![town_04_gas_station](../img/catalogue/maps/town04/town04_gas.webp)
+
+In the middle of the town is a pedestrian shopping arcade with outdoor seating.
+
+![town_04_arcade](../img/catalogue/maps/town04/town04_arcade.webp)
+
+There are various styles of residential and commercial buildings and streets including trees and billboards.
+
+![town_04_streets](../img/catalogue/maps/town04/town04_streets.webp)

Docs/map_town05.md

@@ -0,0 +1,33 @@
+# Town 5
+
+![town_05_slideshow](../img/catalogue/maps/town05/town05_panorama.webp)
+
+Town 5 is an urban environment set into a backdrop of conifer-covered hills with a raised highway and large multilane roads and junctions. 
+
+## Road network
+
+The roads consist of numerous dual-lane urban roads intersecting at numerous large junctions. 
+
+![town_05_aerial](../img/catalogue/maps/town05/town05aerial.webp)
+
+Junctions on each side of the town allow access to a raised highway that serves as a ringroad.
+
+![town_05_roads](../img/catalogue/maps/town05/town05_roads.webp)
+
+## Features
+
+The town features numerous commercial buildings.
+
+![town_05_offices](../img/catalogue/maps/town05/town05_offices.webp)
+
+In the middle of the town there is also a building under construction.
+
+![town_05_construction](../img/catalogue/maps/town05/town05_under_construction.webp)
+
+The middle of the town has a car park.
+
+![town_05_carpark](../img/catalogue/maps/town05/town05_carpark.webp)
+
+In the middle of the town, the road extends under a commercial building.
+
+![town_05_road_under_building](../img/catalogue/maps/town05/town05_under_buildings.webp)

Docs/map_town06.md

@@ -0,0 +1,21 @@
+# Town 6
+
+![town_06_slideshow](../img/catalogue/maps/town06/town06_slideshow.webp)
+
+Town 6 is a low density town set into a coniferous landscape exhibiting a multitude of large, 4-6 lane roads and special junctions like the [Michigan Left](https://en.wikipedia.org/wiki/Michigan_left). 
+
+**Town 6 is part of the additional maps package that should be [downloaded with the CARLA package](https://github.com/carla-simulator/carla/releases). Move the downloaded ZIP file into the *Import* folder of the extracted CARLA package then run the *ImportAssets* script.**
+
+## Road network
+
+The road network exhibits 4 large parallel roads with 4 to 6 lanes, interconnected by several sliproads and junctions . 
+
+![town_06_aerial](../img/catalogue/maps/town06/town06aerial.webp)
+
+Town 6's numerous sliproad junctions include the Michigan Left.
+
+![town_06_junctions](../img/catalogue/maps/town06/town06_junctions.webp)
+
+Numerous road scenarios are represented including 5 lane roads, culdesacs and designated turning lanes. 
+
+![town_06_roads](../img/catalogue/maps/town06/town06_roads.webp)

Docs/map_town07.md

@@ -0,0 +1,31 @@
+# Town 7
+
+![town_07_slideshow](../img/catalogue/maps/town07/town07_slideshow.webp)
+
+Town 7 imitates a quiet rural community, a green landscape filled with cornfields, barns, grain silos and windmills. 
+
+**Town 7 is part of the additional maps package that should be [downloaded with the CARLA package](https://github.com/carla-simulator/carla/releases). Move the downloaded ZIP file into the *Import* folder of the extracted CARLA package then run the *ImportAssets* script.**
+
+## Road network
+
+The road network is small and contains a simple set of junctions and unmarked roads with a couple of residential parking streets. 
+
+![town_07_aerial](../img/catalogue/maps/town07/town07aerial.webp)
+
+## Features
+
+The buildings include wooden barns and farm buildings.
+
+![town_07_buildings](../img/catalogue/maps/town07/town07_residential.webp)
+
+There are some structures expected only in rural farming environments like grain silos and windmills. 
+
+![town_07_silos_windmill](../img/catalogue/maps/town07/town07_windmill_silo.webp)
+
+There is also a small body of water spanned by a short road bridge. 
+
+![town_07_water](../img/catalogue/maps/town07/town07_water.webp)
+
+The some of the roads are lined by corn fields.
+
+![town_07_corn](../img/catalogue/maps/town07/town07_corn.webp)

Docs/tuto_first_steps.md

@@ -12,6 +12,8 @@ In this tutorial, we will cover a standard workflow in CARLA, from launching the
 * [__Adding NPCs__](#adding-npcs)  
 * [__Add sensors__](#add-sensors)  
 * [__Animate vehicles__](#animate-vehicles-with-traffic-manager)  
+* [__Choose your map__](#choose-your-map) 
+* [__Choose your vehicles__](#choose-your-vehicles) 
 
 
 ## Launching CARLA and connecting the client
@@ -173,3 +175,71 @@ for vehicle in world.get_actors().filter('*vehicle*'):
 Now your simulation is running, with numerous vehicles driving around the map and a camera recording data from one of those vehicles. This data can then be used to feed a machine learning algorithm for training an autonomous driving agent. The Traffic manager has many functions for customising traffic behaviour, learn more [__here__](tuto_G_traffic_manager.md).
 
 This is the most basic possible set up for a simulation, now you can go into further details deeper into documentation about the many extra sensors you can use to generate data, and the many other features of CARLA that can make your simulations more detailed and more realistic. 
+
+---
+
+## Assign a vehicle as the Ego Vehicle
+
+The __Ego Vehicle__ is an important concept to bear in mind when using CARLA. The Ego Vehicle refers to the vehicle that will be the focus of the simulation. In most CARLA use cases it's likely to be the vehicle to which you will attach your sensors and/or the vehicle that your autonomous driving machine learning stack will control. It is important because it serves as the basis for some simulation operations that help improve the efficiency of the simulation, like for example:
+
+* __Loading map tiles for Large Maps__: Large Maps (like Town 12) are made up of tiles to that are only loaded when needed to improve CARLA performance. The position of the Ego Vehicle dictates which tiles are used. Only the tiles nearest the Ego Vehicle will be loaded.
+
+* __Hybrid Physics Mode__: if your simulation contains a lot of vehicles controlled by the Traffic Manager, calculating physics for all of these vehicles is very computationally expensive. The [Hybrid Physics Mode](adv_traffic_manager.md#hybrid-physics-mode) enables physics calculation to be limited to the vehicles in the vicinity of the Ego Vehicle, hence saving computing resources.
+
+To define the Ego Vehicle, you should set the `role_name` attribute of the vehicle [carla.Actor](python_api.md#carlaactor) object's [blueprint](python_api.md#carlaactorblueprint) when you are spawning your Ego Vehicle:
+
+```py
+
+ego_bp = world.get_blueprint_library().find('vehicle.lincoln.mkz_2020')
+
+ego_bp.set_attribute('role_name', 'hero')
+
+ego_vehicle = world.spawn_actor(ego_bp, random.choice(spawn_points))
+
+```
+---
+## Choose your map
+
+CARLA comes loaded with several pre-made maps focused on providing a diversity of features. The maps present a divers range of environments such as urban, rural and residential. There are also differing architectural styles and also a multitude of different road layouts from unmarked rural roads to multi-lane highways. Browse the map guides in the [catalogue](catalogue.md) or in the table below. 
+
+| Town       | Summary |
+| -----------| ------  |
+| [__Town01__](map_town01.md)  | A small, simple town with a river and several bridges.|
+| [__Town02__](map_town02.md) | A small simple town with a mixture of residential and commercial buildings.|
+| [__Town03__](map_town03.md) | A larger, urban map with a roundabout and large junctions.|
+| [__Town04__](map_town04.md) | A small town embedded in the mountains with a special "figure of 8" *infinite* highway.|
+| [__Town05__](map_town05.md) | Squared-grid town with cross junctions and a bridge. It has multiple lanes per direction. Useful to perform lane changes.  |
+| [__Town06__](map_town06.md) | Long many lane highways with many highway entrances and exits. It also has a [**Michigan left**](<https://en.wikipedia.org/wiki/Michigan_left>). |
+| [__Town07__](map_town07.md) | A rural environment with narrow roads, corn, barns and hardly any traffic lights. |
+| **Town08** | Secret "unseen" town used for the [Leaderboard](https://leaderboard.carla.org/) challenge |
+| **Town09** | Secret "unseen" town used for the [Leaderboard](https://leaderboard.carla.org/) challenge |
+| [__Town10__](map_town10.md) | A downtown urban environment with skyscrapers, residential buildings and an ocean promenade.|
+| __Town11__ | A Large Map that is undecorated.|
+| [__Town12__](map_town12.md) | A Large Map with numerous different regions, including high-rise, residential and rural environments.|
+
+You can browse the available maps in your CARLA installation like so:
+
+```py
+client.get_available_maps()
+```
+
+This will include maps that you have built yourself or imported.
+
+When you choose a map, load it like so:
+
+```py
+client.load_world('Town03_Opt')
+```
+
+---
+
+## Choose your vehicles
+
+CARLA provides a library of vehicles to fill your simulation with traffic. Browse the vehicle models in the [CARLA vehicle catalogue](catalogue_vehicles.md). 
+
+You can see all available blueprints by filtering the blueprint library for vehicles. 
+
+```py
+for bp in world.get_blueprint_library().filter('vehicle'):
+    print(bp.id)
+```