revert obstacle_cruise_planner

Signed-off-by: Takayuki Murooka <[email protected]>

planning/autoware_obstacle_cruise_planner/docs/debug.md

@@ -1,3 +1,46 @@
 # Debug
 
 ## Debug visualization
+
+### Detection area
+
+Green polygons which is a detection area is visualized by `detection_polygons` in the `~/debug/marker` topic.
+To determine each behavior (cruise, stop, and slow down), if `behavior_determination.*.max_lat_margin` is not zero, the polygons are expanded with the additional width.
+
+![detection_area](../media/detection_area.png)
+
+### Collision points
+
+Red points which are collision points with obstacle are visualized by `*_collision_points` for each behavior in the `~/debug/marker` topic.
+
+![collision_point](../media/collision_point.png)
+
+### Obstacle for cruise
+
+Orange sphere which is an obstacle for cruise is visualized by `obstacles_to_cruise` in the `~/debug/marker` topic.
+
+Orange wall which means a safe distance to cruise if the ego's front meets the wall is visualized in the `~/debug/cruise/virtual_wall` topic.
+
+![cruise_visualization](../media/cruise_visualization.png)
+
+### Obstacle for stop
+
+Red sphere which is an obstacle for stop is visualized by `obstacles_to_stop` in the `~/debug/marker` topic.
+
+Red wall which means a safe distance to stop if the ego's front meets the wall is visualized in the `~/virtual_wall` topic.
+
+![stop_visualization](../media/stop_visualization.png)
+
+### Obstacle for slow down
+
+Yellow sphere which is an obstacle for slow_down is visualized by `obstacles_to_slow_down` in the `~/debug/marker` topic.
+
+Yellow wall which means a safe distance to slow_down if the ego's front meets the wall is visualized in the `~/debug/slow_down/virtual_wall` topic.
+
+![slow_down_visualization](../media/slow_down_visualization.png)
+
+<!-- ### Obstacle ignored to cruise or stop intentionally -->
+
+<!-- Green sphere which is a obstacle ignored intentionally to cruise or stop is visualized by `intentionally_ignored_obstacles` in the `~/debug/marker` topic. -->
+
+<!-- ![intentionally_ignored_obstacle](../image/intentionally_ignored_obstacle.png) -->