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: ...@@ -20,6 +20,9 @@ For inter-process communication, the package includes wrappers for:
- [ROS](http://wiki.ros.org/ROS/Introduction) - [ROS](http://wiki.ros.org/ROS/Introduction)
- [LCM](https://lcm-proj.github.io/) (discontinued) - [LCM](https://lcm-proj.github.io/) (discontinued)
***
### Description ### Description
The core AICP strategy is compiled in *aicp_core*. 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 ...@@ -40,9 +43,11 @@ The default steps perform frame-to-reference localization and mapping, and inclu
- Phase 2: operator request and path approval - Phase 2: operator request and path approval
- Phase 3: Go Back, Localization only - Phase 3: Go Back, Localization only
***
### Quick Start ### 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. * [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: ...@@ -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. * [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: 1. Create folders:
...@@ -76,7 +81,9 @@ Main dependencies: ...@@ -76,7 +81,9 @@ Main dependencies:
> cd ~/aicp_base/catkin_ws > cd ~/aicp_base/catkin_ws
> catkin build aicp_ros > catkin build aicp_ros
#### Running - ROS #### How To Run
**ROS**
- **User Interface:** - **User Interface:**
1. `roscore` 1. `roscore`
...@@ -88,16 +95,18 @@ Main dependencies: ...@@ -88,16 +95,18 @@ Main dependencies:
- **AICP mapping -- frame-to-reference**: `roslaunch aicp_ros aicp_mapping.launch` - **AICP mapping -- frame-to-reference**: `roslaunch aicp_ros aicp_mapping.launch`
- **AICP localization only -- frame-to-map**: `roslaunch aicp_ros aicp_localization_only.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` Help: `rosrun aicp_lcm aicp_lcm_node -h`
Example: `rosrun aicp_lcm aicp_lcm_node -s debug -b 80 -f 5` 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 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 \(for visualization purposes\). * 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 ### Credits
``` ```
...@@ -132,6 +141,7 @@ Example: `rosrun aicp_lcm aicp_lcm_node -s debug -b 80 -f 5` ...@@ -132,6 +141,7 @@ Example: `rosrun aicp_lcm aicp_lcm_node -s debug -b 80 -f 5`
year = {2018}, year = {2018},
} }
``` ```
***
### License ### License
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