From d6d6f7b2b275ca5d84b8fb80ddd261aeb4c49d1b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 25 Jun 2018 12:37:42 +0200
Subject: [PATCH] Added the initial version of the README file.

---
 README.md | 47 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..852a7c9
--- /dev/null
+++ b/README.md
@@ -0,0 +1,47 @@
+# Description
+
+This ROS package contains physical descriptions of UVC compatible cameras. 
+
+For each sensor, the following files are provided:
+
+ * Two mesh files: one with high resolution for visual purposes only and one with low resolution for collision detection and for systems with low graphics.
+
+ * Xacro macro to be included in higher level urdf or xacro files.
+
+ * An example xacro file to be used as an example of use of the macro.
+
+# Dependencies
+
+This node has the following dependencies:
+
+  * [iri_camera_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_camera_gazebo) (for simulation only)
+
+# Install
+
+This package can be cloned to an active workspace with the following command:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/sensors/usb_cameras/iri_uvc_camera_description.git 
+```
+
+# How to use it
+
+The *uvc_camera_example.xacro* file shows an example of how to include the xacro macro in another xacro file.
+
+The xacro macro has the following parameters:
+
+ * **name:** name of the sensor used to specify the frames and joints to allow multiples instances.
+
+ * **parent:** name of the parent frame of the IMU sensor. 
+
+ * **resolution:** Specify the type of mesh to use for visualization. It can be either *high_res* or *low_res*.
+
+ * **model:** Specify the model of the camera used if a specific mesh exists for it. Otherwise use the value *default*.
+
+ * **origin:** pose of the sensor with respect of the parent frame.
+
+ * **sim_config:** path and filename of the configuration file for the gazebo plugin.
+
+
-- 
GitLab