diff --git a/Docs/img/rss_carla_integration_architecture.png b/Docs/img/rss_carla_integration_architecture.png new file mode 100644 index 000000000..256d105b8 Binary files /dev/null and b/Docs/img/rss_carla_integration_architecture.png differ diff --git a/Docs/rss_lib_integration.md b/Docs/rss_lib_integration.md index aec8f5a50..8de0f391e 100644 --- a/Docs/rss_lib_integration.md +++ b/Docs/rss_lib_integration.md @@ -5,6 +5,8 @@ This feature integrates the [C++ Library for Responsibility Sensitive Safety](https://github.com/intel/ad-rss-lib) into the CARLA Client library. It provides basic implementations of both a **RssSensor**, the situation analysis and response generation by the **ad-rss-lib** and a basic **RssRestrictor** class which applies the restrictions to given vehicle commands. +The following image sketches the integration of **RSS** into the CARLA architecture: +![Interate RSS into CARLA](img/rss_carla_integration_architecture.png) The **RssSensor** results can be visualized within CARLA. [![RSS sensor in CARLA](img/rss_carla_integration.png)](https://www.youtube.com/watch?v=UxKPXPT2T8Q) @@ -14,7 +16,7 @@ Please see [C++ Library for Responsibility Sensitive Safety documentation](https

Compilation

RSS integration is a Linux-only build variant. -Please see [Build System](dev/build_system.md) for general information. +Please see [Build System](build_system.md) for general information. Furthermore, there are additional prerequisites required for building RSS and its dependencies (see also [**ad-rss-lib**](https://intel.github.io/ad-rss-lib/BUILDING)); briefly: Dependencies provided by Ubunutu (>= 16.04):