From 289926ec1fc861456160f6e57ebc919999170245 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 9 Feb 2021 19:29:55 +0100
Subject: [PATCH] Updated the documentation.

---
 ReadMe.md | 48 +++++++++++++++++++++++++++++++-----------------
 1 file changed, 31 insertions(+), 17 deletions(-)

diff --git a/ReadMe.md b/ReadMe.md
index 9e84a3e..9afcdb5 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -3,7 +3,10 @@ opendrive_to_gazebo                        {#mainpage}
 
 ## Description
 
-Library to parse a OpenDrive 1.4 road file format to generate a launch file to spawn signals and objects on gazebo.
+C++ library to parse an OpenDrive 1.4 road file format and extract the signals and objects to be used in the Gazebo simulator. This library generate two launch files:
+
+* One for the signals. Use the [iri_sign_description](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_sign_description) ROS package to spawn the signals in Gazebo.
+* One for the objects. Use the [iri_object_description](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_object_description) ROS package to spawn the objects in Gazebo.
 
 This library has the following limitations:
 - Only DEU signals code is supported. The signals supported are:
@@ -38,18 +41,6 @@ Run the commands on _add repository_ and _add key_ from [labrobotica_how_to inst
 sudo apt update && sudo apt install iri-opendrive-to-gazebo-dev
 ```
 
-## Disclaimer  
-
-Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
-
-This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
-
-In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
-
-You should have received a copy of the GNU Lesser General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>
-
 ## For developers
 
 <details><summary>click here</summary>
@@ -148,9 +139,32 @@ and it is also necessary to link with the desired libraries by using the followi
 TARGET_LINK_LIBRARIES(<executable name> ${opendrive_to_gazebo_LIBRARIES})
 ```
 
-## Examples
-
-There is an example to show the use of this library.
-
 </p>
 </details>
+
+## How to use it
+
+This tool accepts three arguments:
+
+* The full path to the Opendrive file.
+* Path for the output launch files files.
+* The value of the scale factor. The scale factor is bigger than one to scale down the original geometry, and smaller than one to scale it up. This argument is optional, an when not set, a scale factor of one is used.
+
+To generate both signals and objects launch files, execute the following command from the main folder of the project:
+
+```
+./bin/opendrive_to_gazebo <path to the xodr file> <output path> [scale factor]
+```
+
+## Disclaimer
+
+Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
-- 
GitLab