From 0ab0bec3091e2cb7603df96e34b061759721f1d0 Mon Sep 17 00:00:00 2001
From: apoorva <eic.apoorva@gmail.com>
Date: Wed, 29 Mar 2023 12:11:50 +0530
Subject: [PATCH] updated readme

---
 README.md | 65 +++++++++++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 63 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 6736db45..dcfb5d48 100644
--- a/README.md
+++ b/README.md
@@ -12,10 +12,68 @@ How to install dependencies??
 This section explains what each module is responsible for.
 
 ## pipe_msgs
+This module contains ros msgs for storing information about the detected object's bounding box.
+```
+$ cd ros2_ws/
+$ colcon build --packages-select pipe_msgs
+$ . install/setup.bash
+```
+To check if msgs are built properly, run following command
+```
+$ ros2 interface show pipe_msgs/msg/BoundingBox
+
+The output will be:
+float64 probability
+int64 xmin
+int64 ymin
+int64 xmax
+int64 ymax
+int16 id
+string class_id
+```
 
 ## find-pose
+This ROS module is responsible for determining the position of the detected objects.
+The following input/ros topics are needed:
+- /rgb_img: RGB Image topic
+- /camera_info: Camera calibration parameters topic
+- /depth_img: Aligned depth image topic (aligned with rgb image)
+- /bboxes: Bounding box of each detected object. (Comes from yolov3 detection module)
+Output:
+- TF: Transform between camera_link and detected_object frame.
+How to build and run?
+This package is dependent on custom `pcl_conversion` and `pcl_ros` module. Make sure you have built those before building this package.
+```
+$ colcon build --packages-select find-pose
+$ ros2 launch find-pose find-pose-node.launch.py
+```
+All the topics can be remapped in the launch file.
 
 ## yolov3_ros
+This ROS module is responsible for detecting the pipes from rgb image topic and also syncing the depth, rgb and camera_info topics.
+The following input/ros topics are needed:
+- /camera/color/image_raw: RGB Image topic
+- /camera/aligned_depth_to_color/image_raw: Aligned depth image topic (aligned with rgb image)
+- /camera/color/camera_info: Camera calibration parameters topic
+
+ROS Paramater Input:
+- best_weights: String that is the path to the best weights file of yolov3 detection
+Defaults: `'src/pipe_weights.pt'`
+
+The following are the output topics:
+- /detection_image: The RGB Image topic with bounding box drawn on it for visualization and debugging purpose
+- /bboxes: Bounding box of each detected object.
+- /rgb_img: Time Synced RGB Image topic
+- /camera_info: Time Synced Camera calibration parameters topic
+- /depth_img: Time Synced Aligned depth image topic (aligned with rgb image)
+
+How to build and run?
+```
+$ colcon build --packages-select yolov3_ros
+$ ros2 launch yolov3_ros pipe_detection.launch.py
+```
+All the topics can be remapped in the launch file. The path to best_weights can also be changed inside the launch file.
+Launch file is stored in `yolov3_ros/launch/`.
 
 ## yolov3
 This module contains code for yolov3. This method is being used to train the model to detect pipes in the greenhouse.
@@ -85,9 +143,12 @@ pip install -e .
 rosbags-convert ../single_depth_color_640x480.bag
 ```
 
-## pcl_conversions
+## perception_pcl
 
-## pcl_ros
+
+### pcl_conversions
+
+### pcl_ros
 
 
 ## flann_based