diff --git a/README.md b/README.md index f284531be5b2471bc7eddddcffb7dcfb3f0d7a2f..ea017ba7c85122346fa399f454f9c0669db2469a 100644 --- a/README.md +++ b/README.md @@ -99,6 +99,9 @@ It also provides a [default bno055 calibration file](./calibration/bno055.cal). * **iri_bno055_imu_bringup**: Move to your active workspace, clone [this repository](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_bno055_imu_bringup) and compile your workspace. +* **iri_imu_bias_filter**: Move to your active workspace, clone [this repository](https://gitlab.iri.upc.edu/mobile_robotics/dogs_project/iri_imu_bias_filter) and compile your workspace. + +* **iri_laser_scan_icp**: Move to your active workspace, clone [this repository](https://gitlab.iri.upc.edu/mobile_robotics/dogs_project/iri_laser_scan_icp) and compile your workspace. #### Other dependencies @@ -129,6 +132,9 @@ This node provides the following launch files: - *node_name*: Node name. - *config_file*: Node configuration yaml file. - *imu_topic*: IMU input data topic name to be remaped. + - *front_laser_topic*: Front laser input data topic name to be remaped. + - *rear_laser_topic*: Rear laser input data topic name to be remaped. + - *icp_service_name*: Laser_scan ICP service to be remaped. - *output*: Ros node launch output's parameter. - *launch_prefix*: Ros node launch launch-prefix's parameter. @@ -140,15 +146,25 @@ This node provides the following launch files: - *dr*: Boolean to launch rqt_reconfigure. - *sim_time*: Boolean to set */use_sim_time* parameter. -- **imu_and_collisions.launch**: General launch file with IMU driver and collision managment. It has the following arguments: +- **collisions.launch**: General launch file with IMU driver, IMU bias filter, laser_scan ICP and collision managment. It has the following arguments: + - *imu_config_file*: IMU driver node configuration yaml file. + - *imu_calibration_file*: IMU calibration file (not used for raw data mode). + - *bias_filter_config_file*: IMU bias filter configuration yaml file. + - *imu_raw_topic*: IMU raw data topic name to be remaped. + - *imu_filtered_topic*: Bias filtered's IMU raw data topic name to be remaped. + - *cmd_vel_topic*: cmd_vel topic name to be remaped. + - *update_bias_ns*: Update bias action namespace to be remaped. + - *icp_config_file*: Laser_scan ICP configuration yaml file. + - *icp_service_name*: Laser_scan ICP service to be remaped. - *collision_config_file*: Collision managment node configuration yaml file. - - *imu_topic*: IMU input data topic name to be remaped. + - *front_laser_topic*: Front laser input data topic name to be remaped. + - *rear_laser_topic*: Rear laser input data topic name to be remaped. - *output*: Ros node launch output's parameter. - *launch_prefix*: Ros node launch launch-prefix's parameter. - *dr*: Boolean to launch rqt_reconfigure. - *sim_time*: Boolean to set */use_sim_time* parameter. - - *imu_config_file*: IMU driver node configuration yaml file. - - *imu_calibration_file*: IMU calibration file (not used for raw data mode). + - *imu_driver*: Boolean to launch the IMU driver. + - **rosbag_and_rviz.launch**: Launch file for development and debugging purpouses.