From 3e0716b51627d96f6a53949913b0808bae54eb79 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Thu, 9 Dec 2021 08:25:03 +0100
Subject: [PATCH] Updated docuemntation and launch files
---
README.md | 36 ++++++++++++++++++++++++++++++------
launch/test.launch | 3 +++
2 files changed, 33 insertions(+), 6 deletions(-)
diff --git a/README.md b/README.md
index 62c8e14..f2b6750 100644
--- a/README.md
+++ b/README.md
@@ -1,18 +1,31 @@
## Description
-The iri_laser_scan_icp project description
+This node provides a service server to process an ICP between two scans using [laser_scan_utils](https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils).
+
+This node also provides the following configuration files located in [config](./config) directory:
+ * **params.yaml**: Node default configuration file.
# ROS Interface
-### Service clients
- - ~**icp** (iri_laser_scan_icp/icp.srv)
### Service servers
- - ~**icp** (iri_laser_scan_icp/icp.srv)
+ - ~**icp** (iri_laser_scan_icp/icp.srv): Performs an ICP.
### Parameters
- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000) The main node thread loop rate in Hz.
+- ~**range_std_dev** (Double; default: 0.035; min: 0.01; max: 0.1) Standard deviation measurement noise in range in meters.
+- ~**angle_std_dev** (Double; default: 0.05; min: 0.01; max: 0.2) Standard deviation measurement noise in angle in radians.
## Installation
+#### IRI dependencies
+
+* **laser_scan_utils**: This is a C++ Toolbox with utilities for 2D laser scan processing. Follow the instructions on the [repository](https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils) README to install the library with all the optional dependencies.
+
+#### External dependencies
+
+* **[Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page)**: Follow its installation instructions.
+
+#### Other dependencies
+
Move to the active workspace:
```bash
roscd && cd ../src
@@ -34,9 +47,20 @@ catkin_make
## How to use it
-- Standalone test
+This node provides the following launch files:
+
+- **node.launch**: Launch file intended to be included by a general launch file. It has the following arguments:
+ - *node_name*: Node name.
+ - *config_file*: Node configuration yaml file.
+ - *icp_service_name*: Laser scan ICP to be remaped.
+ - *output*: Ros node launch output's parameter.
+ - *launch_prefix*: Ros node launch launch-prefix's parameter.
- `roslaunch iri_laser_scan_icp test.launch`
+- **test.launch**: Launch file for development purpouses. It has the following arguments:
+ - *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.
## Disclaimer
diff --git a/launch/test.launch b/launch/test.launch
index 6fa65b7..cd984f5 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -5,6 +5,9 @@
<arg name="launch_prefix" default=""/>
<arg name="dr" default="true"/>
+ <arg name="sim_time" default="false"/>
+ <param name="/use_sim_time" value="$(arg sim_time)" />
+
<include file="$(find iri_laser_scan_icp)/launch/node.launch">
<arg name="node_name" value="iri_laser_scan_icp"/>
<arg name="output" value="$(arg output)"/>
--
GitLab