updated Index page, rearranged nav bar, corrected links to broken images, corrected default settings for wheel physics, added anysys rtr information

Author: corkyw10

Docs/core_map.md

@@ -127,7 +127,7 @@ Every object on a CARLA map has a set of associated variables which can be found
 
 See an example of distinct objects being toggled:
 
-![toggle_objects_gif](/img/objects_small.gif)
+![toggle_objects_gif](img/objects_small.gif)
 
 [env_obj]: https://carla.readthedocs.io/en/latest/python_api/#carla.EnvironmentObject
 [env_obj_id]: https://carla.readthedocs.io/en/latest/python_api/#carla.EnvironmentObject.id

Docs/ecosys_ansys.md

@@ -0,0 +1,8 @@
+# Ansys Real Time Radar Model: Training a Vehicle Longitudinal Controller Using Reinforcement Learning
+
+In a webinair series in April 2021, [Ansys](https://www.ansys.com/) presented the details of their integration of the Ansys Real Time Radar (RTR) with the CARLA simulator. Here you can download and view the presentation slides and videos that accompanied the webinair. 
+
+The presentation details how the RTR was integrated with CARLA to train a vehicle longitudinal controller using reinforcement learning and includes the model, action space and reward policy used. The videos show the results of the training in the CARLA simulator. 
+
+View the presentation [here](https://drive.google.com/file/d/1xtGaI8Ls6C8Jh-PQvKRrLKs6c3ri3WQ2/view) and the videos [here](https://drive.google.com/file/d/1whHE1MKhzQtW3jj4dJCW6A3mCjUnNaJI/view).
+

Docs/img/large_map_export_fbx.png

@@ -24,7 +24,7 @@ CARLA forum</a>
 ## Getting started
 
 [__Introduction__](start_introduction.md) — What to expect from CARLA.  
-[__Quick start__](start_quickstart.md) — Get the CARLA releases.  
+[__Quick start package installation__](start_quickstart.md) — Get the CARLA releases.  
 
 
 ## Building CARLA
@@ -33,7 +33,7 @@ CARLA forum</a>
 [__Windows build__](build_windows.md) — Make the build on Windows.  
 [__Update CARLA__](build_update.md) — Get up to date with the latest content.  
 [__Build system__](build_system.md) — Learn about the build and how it is made.  
-[__Running in a Docker__](build_docker.md) — Run CARLA using a container solution.  
+[__CARLA in Docker__](build_docker.md) — Run CARLA using a container solution.  
 [__F.A.Q.__](build_faq.md) — Some of the most frequent installation issues.  
 
 
@@ -44,16 +44,22 @@ CARLA forum</a>
 [__3rd. Maps and navigation__](core_map.md) — Discover the different maps and how do vehicles move around.  
 [__4th. Sensors and data__](core_sensors.md) — Retrieve simulation data using sensors.  
 
-## Advanced steps
+## Advanced concepts
 [__OpenDRIVE standalone mode__](adv_opendrive.md) — Use any OpenDRIVE file as a CARLA map.  
 [__PTV-Vissim co-simulation__](adv_ptv.md) — Run a synchronous simulation between CARLA and PTV-Vissim.  
 [__Recorder__](adv_recorder.md) — Register the events in a simulation and play it again.  
 [__Rendering options__](adv_rendering_options.md) — From quality settings to no-render or off-screen modes.  
 [__RSS__](adv_rss.md) — An implementation of RSS in the CARLA client library.  
-[__SUMO co-simulation__](adv_sumo.md) — Run a synchronous simulation between CARLA and SUMO.  
 [__Synchrony and time-step__](adv_synchrony_timestep.md) — Client-server communication and simulation time.  
+[__Benchmarking Performance__](adv_benchmarking.md) — Perform benchmarking using our prepared script.  
+[__CARLA Agents__](adv_agents.md) — Agents scripts allow single vehicles to roam the map or drive to a set destination.  
+
+## Traffic Simulation
+
+[__ Traffic Simulation Overview__](ts_traffic_simulation_overview.md) — An overview of the different options available to populate your scenes with traffic  
 [__Traffic Manager__](adv_traffic_manager.md) — Simulate urban traffic by setting vehicles to autopilot mode.  
-[__CARLA Agents__](adv_agents.md) — Agents scripts allow single vehicles to roam the map or drive to a set destination. 
+[__SUMO co-simulation__](adv_sumo.md) — Run a synchronous simulation between CARLA and SUMO.  
+[__Scenic__](tuto_G_scenic.md) — Follow an example of defining different scenarios using the Scenic library.  
 
 ## References
 [__Python API reference__](python_api.md) — Classes and methods in the Python API.  
@@ -66,7 +72,28 @@ CARLA forum</a>
 [__carlaviz — web visualizer__](plugins_carlaviz.md) — Plugin that listens the simulation and shows the scene and some simulation data in a web browser.  
 
 ## ROS bridge
-[__ROS bridge documentation__](ros_documentation.md) — Brief overview of the ROS bridge and a link to the full documentation
+[__ROS bridge documentation__](ros_documentation.md) — Brief overview of the ROS bridge and a link to the full documentation  
+
+## Custom Maps
+
+[__Overview of custom maps in CARLA__](tuto_M_custom_map_overview.md) — An overview of the process and options involved in adding a custom, standard sized map  
+[__Create a map in RoadRunner__](tuto_M_generate_map.md) — How to generate a customs, standard sized map in RoadRunner  
+[__ Import map in CARLA package__](tuto_M_add_map_package.md) How to import a map in a CARLA package  
+[__Import map in CARLA source build__](tuto_M_add_map_source.md) — How to import a map in CARLA built from source  
+[__Alternative ways to import maps__](tuto_M_add_map_alternative.md) — Alternative methods to import maps  
+[__ Manually prepare map package__](tuto_M_manual_map_package.md) — How to prepare a map for manual import  
+[__Customizing maps: Layered maps__](tuto_M_custom_layers.md) — How to create sub-layers in your custom map  
+[__ Customizing maps: Traffic lights and signs__](tuto_M_custom_add_tl.md) — How to add traffic lights and signs to your custom map  
+[__ Customizing maps: Road painter__](tuto_M_custom_road_painter.md) — How to use the road painter tool to change the apearance of the road  
+[__Customizing Maps: Procedural Buildings__](tuto_M_custom_buildings.md) — Populate your custom map with buildings  
+[__ Customizing maps: Weather and landscape__](tuto_M_custom_weather_landscape.md) — Create the weather profile for your custom map and populate the landscape  
+[__Generate pedestrian navigation__](tuto_M_generate_pedestrian_navigation.md) — Obtain the information needed for walkers to move around.  
+
+## Large Maps
+
+[__Large maps overview__](large_map_overview.md) — An explanation of how large maps work in CARLA  
+[__Create a Large Map in RoadRunner__](large_map_roadrunner.md) — How to create a large map in RoadRunner  
+[__Import/Package a Large Map__](large_map_import.md) — How to import a large map  
 ## Tutorials — General
 [__Add friction triggers__](tuto_G_add_friction_triggers.md) — Define dynamic box triggers for wheels.  
 [__Control vehicle physics__](tuto_G_control_vehicle_physics.md) — Set runtime changes on a vehicle physics.  
@@ -75,31 +102,26 @@ CARLA forum</a>
 [__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder.  
 [__CarSim Integration (Beta)__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine.  
 [__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library.  
-[__Scenic__](tuto_G_scenic.md) — Follow an example of defining different scenarios using the Scenic library.  
-
-## Tutorials — Maps
-[__Overview of custom maps__](tuto_M_custom_map_overview.md)  
-[__Create a map in RoadRunner__](tuto_M_generate_map.md)  
-[__Import map in CARLA package__](tuto_M_add_map_package.md)  
-[__Import map in CARLA source build__](tuto_M_add_map_source.md)  
-[__Manually prepare map package__](tuto_M_manual_map_package.md)
-[__Alternative map section__](tuto_M_add_map_alternative.md)  
-[__Generate pedestrian navigation__](tuto_M_generate_pedestrian_navigation.md) — Obtain the information needed for walkers to move around.  
+[__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics  
+[__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker  
 
 ## Tutorials — Assets
 [__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA.  
 [__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA.  
 [__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets.  
-[__Map customization__](tuto_A_map_customization.md) — Edit an existing map.  
 [__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials.  
 
 ## Tutorials — Developers
-[__Contribute with new assets__](tuto_D_contribute_assets.md) — Add new content to CARLA.  
+[__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA.  
 [__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA.  
 [__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation.  
 [__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle.  
 [__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles.  
+[__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA  
+
+## CARLA Ecosystem
 
+[__Ansys Real Time Radar Model__](ecosys_ansys.md) — Details about the Ansys RTR Webinair  
 ## Contributing
 [__Contribution guidelines__](cont_contribution_guidelines.md) — The different ways to contribute to CARLA.  
 [__Code of conduct__](cont_code_of_conduct.md) — Standard rights and duties for contributors.  

Docs/img/rr_world_settings.png

@@ -37,6 +37,7 @@ The specifics of how to build a large map in RoadRunner go beyond the scope of t
 If you are building a large map with elevation, the recommended largest size of the map is 20km by 20km. Maps larger than this may cause RoadRunner to crash on export.
 
 [rr_tutorials]: https://www.mathworks.com/support/search.html?fq=asset_type_name:video%20category:roadrunner/index&page=1&s_tid=CRUX_topnav
+
 ---
 
 ## Export a large map in RoadRunner