Commit d596193c authored by simalpha's avatar simalpha
Browse files

Better formatting/spacing in readme.

parent 22405345
......@@ -20,6 +20,9 @@ For inter-process communication, the package includes wrappers for:
- [ROS](http://wiki.ros.org/ROS/Introduction)
- [LCM](https://lcm-proj.github.io/) (discontinued)
***
### Description
The core AICP strategy is compiled in *aicp_core*.
......@@ -40,9 +43,11 @@ The default steps perform frame-to-reference localization and mapping, and inclu
- Phase 2: operator request and path approval
- Phase 3: Go Back, Localization only
***
### Quick Start
Main dependencies:
#### Main dependencies
* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher.git), a modular library implementing the Iterative Closest Point \(ICP\) algorithm for aligning point clouds.
......@@ -54,7 +59,7 @@ Main dependencies:
* [Eigen](https://eigen.tuxfamily.org/dox-devel/index.html), a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
#### Compiling
#### How To Compile
1. Create folders:
......@@ -76,7 +81,9 @@ Main dependencies:
> cd ~/aicp_base/catkin_ws
> catkin build aicp_ros
#### Running - ROS
#### How To Run
**ROS**
- **User Interface:**
1. `roscore`
......@@ -88,16 +95,18 @@ Main dependencies:
- **AICP mapping -- frame-to-reference**: `roslaunch aicp_ros aicp_mapping.launch`
- **AICP localization only -- frame-to-map**: `roslaunch aicp_ros aicp_localization_only.launch`
#### Running - LCM
**LCM** (discontinued)
Help: `rosrun aicp_lcm aicp_lcm_node -h`
Example: `rosrun aicp_lcm aicp_lcm_node -s debug -b 80 -f 5`
**Note:**
***Note:***
* Option _"-s robot"_ is meant to be used if the corrected pose from AICP is fed back into the state estimator. Each corrected pose is published only once as soon as computed.
* Option _"-s debug"_ is meant to be used during debug. The corrected pose message is published at the same frequency as the pose estimate from the state estimator \(for visualization purposes\).
***
### Credits
```
......@@ -132,6 +141,7 @@ Example: `rosrun aicp_lcm aicp_lcm_node -s debug -b 80 -f 5`
year = {2018},
}
```
***
### License
......
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