diff --git a/3dnav.rosinstall b/3dnav.rosinstall
deleted file mode 100644
index bfda5dfd5d18f65b09d216ed1a3f17c89c31579c..0000000000000000000000000000000000000000
--- a/3dnav.rosinstall
+++ /dev/null
@@ -1,26 +0,0 @@
-###3d navigation rosinstall
-- git:
- local-name: 3d_nav/iri_3dnav
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/iri_3dnav.git
-- git:
- local-name: 3d_nav/iri_nav_lidar_filter
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/lidar_filter.git
-- git:
- local-name: 3d_nav/iri_nav_lidar_obstacles
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/iri_hole_detector2.git
-- git:
- local-name: 3d_nav/iri_nav_hole_detection
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/iri_hole_detection.git
-- git:
- local-name: 3d_nav/iri_nav_recovery_behaviors
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/recovery_behaviors.git
-- git:
- local-name: 3d_nav/iri_nav_average_point_cloud
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/average_point_cloud.git
-- git:
- local-name: 3d_nav/iri_nav_obstacle_detection_normals
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/iri_obstacle_detection_normals.git
-- git:
- local-name: 3d_nav/iri_camera_filter
- uri: ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/colrobtransp/3d_navigation/iri_camera_filter.git
-
\ No newline at end of file
diff --git a/README.md b/README.md
index 31f201ce3ef26324cfba0624bd87ea992cc21f85..34968b20b55f90d1ecce2afabd2ab4ead4e1b173 100644
--- a/README.md
+++ b/README.md
@@ -3,60 +3,18 @@
The iri_3d_navigation set of packages provides an implementation of
holes and slopes detection for safe navigation of the Ana robot.
-For more information and installation instructions of the Ana packages go [here](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to).
-
-# brief explanation of iri_3d_navigation packages
-
-* iri_nav_lidar_filter
-
-This package provides a node that takes a point cloud as an input and gives the same cloud but filtered as an output. The filter consists in removing some points between specific angles
-where the laser beams of the sensor collide with own parts of the robot producing inexact measures.
-
-
-* iri_nav_lidar_obstacles
-
-This package provides a node that takes a lidar point cloud as an input and gives a laser scan as an output that marks obstacles as walls, holes, too inclined slopes, etc.
-
-* iri_nav_average_point_cloud
-
-
-
-* iri_nav_hole_detection
-
-This package takes a point cloud from a camera and detects holes on the floor by looking if the floor is missing on certain regions. If a hole is found, it outputs an obstacle point cloud.
-
-* iri_nav_obstacle_detection_normals
-
-This package takes a point cloud from a camera and detects obstacles by looking the normal of the plane that form each point with its neighbours.
-
-
-* iri_3d_nav
-
-This package provides several launch files for launching the 3dnav nodes and navigation params.
-
-
-
# How to install the packages
To install the packages, please follow the next steps:
-
-
- If you want to use a new ROS workspace:
+If you want to use a new ROS workspace:
* Create a new workspace following the steps in this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
- * VERY IMPORTANT: install the iriutils package cloning the following repository in your ROS workspace:
- ```
- roscd
- cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/labrobotica/algorithms/iriutils.git
- ```
-
* Copy the 3dnav.rosinstall file to the src folder of the new workspace.
-
- * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using
- the 3dnav.rosinstall file available on this repository. From the src folder, execute:
+
+ * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using
+ the 3dnav.rosinstall file available on this repository. From the src folder, execute:
```
roscd
@@ -64,19 +22,12 @@ cd ../src
wstool init 3dnav.rosinstall
wstool update
```
-
- If you want to use an existing ROS workspace:
-
- * VERY IMPORTANT: install the iriutils package cloning the following repository in your ROS workspace:
- ```
- roscd
- cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/labrobotica/algorithms/iriutils.git
- ```
-
- * Copy the 3dnav.rosinstall file to the src folder of the existing workspace.
-
- * Merge the 3dnav.rosinstall file available on this repository with the existing rosinstall file following the steps
+
+If you want to use an existing ROS workspace:
+
+ * Copy the 3dnav.rosinstall file to the src folder of the existing workspace.
+
+ * Merge the 3dnav.rosinstall file available on this repository with the existing rosinstall file following the steps
in this [tutorial](http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files). From the src folder, execute:
```
@@ -85,50 +36,52 @@ cd ../src
wstool merge 3dnav.rosinstall
wstool update
```
- * Install the following system dependencies:
+
+Install all IRI dependencies. For each folder on the labrobotica/algorithms and labrobotica/drivers folder, execute the following commands:
+
+```
+roscd
+cd ../src/labrobotica/algorithms/<folder> or cd ../src/labrobotica/drivers/<folder>
+mkdir build
+cd build
+cmake ..
+make
+sudo make install
+```
+
+Install all ROS dependencies with the following commands:
```
roscd
cd ../src
-rosdep install -i --from-paths .
+rosdep install -i -r --from-paths .
```
- * Compile the newly downloaded packages with the following command:
+Compile all the ROS packages with the following commands:
```
cd ..
-catkin_make
+catkin_make
```
# Launch
- * ana gazebo simulation
+To try the 3D navigation with the Ana robot in simulation will require to have the [Ana robot simulation environment](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to) installed:
- For launching a gazebo world .
+ * Start the simulation
```
- roslaunch iri_3dnav gazebo_campus.launch
-```
-
-
- * Navigation simulation
-
- This command should launch the nodes for detecting holes.
-
+roslaunch iri_ana_gazebo sim_sample.launch world:=<wolrd_name>
```
- roslaunch iri_3dnav 3dnav.launch
-```
- This command should launch the navigation with map.
+ * To use the navigation with map:
```
- roslaunch iri_3dnav 3dnav_map.launch
+roslaunch iri_ana_rosnav 3d_nav_map.launch
```
+ * To use the navigation without map
-## Potencial running issues
-1. If the simulator can not receive information (pointcloud) from the velodyne lidar, make sure that you have the IRI package "iri_velodyne_lidar_bringup" typically inside "ranger3d" folder. If it is not the case, you can download it from https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup.
-In addition, make sure that you have installed the "velodyne_gazebo_plugins". If it is not the case, install it with:
```
-sudo apt-get install ros-kinetic-velodyne-gazebo-plugins
+roslaunch iri_ana_rosnav 3d_nav_nomap.launch
```
\ No newline at end of file