From 9eea08eaaa0e9d5e630c50aa212a48bd26172660 Mon Sep 17 00:00:00 2001
From: apoorva <eic.apoorva@gmail.com>
Date: Wed, 29 Mar 2023 12:38:27 +0530
Subject: [PATCH] more updates to readme

---
 README.md | 51 ++++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 38 insertions(+), 13 deletions(-)

diff --git a/README.md b/README.md
index dcfb5d48..4fee3835 100644
--- a/README.md
+++ b/README.md
@@ -4,12 +4,26 @@ This repository contains code for detecting heat pipes in the greenhouse as well
 
 Platform: ROS 2, Humble, Ubuntu 22.04
 
-How to build the workspace?
+## How to build the workspace?
+```
+$ git clone https://tea.der-space.de/apoorva/greenhouse.git
+```
+## How to install dependencies??
+```
 
-How to install dependencies??
+sudo apt-get install ros-humble-$(PACKAGE_NAME)
 
+```
 
 This section explains what each module is responsible for.
+## perception_pcl
+This module is responsible for providing `pcl_conversions` and `pcl_ros` modules in `ros 2`.
+To build, run the following command:
+```
+$ cd ros2_ws/
+$ colcon build --packages-select perception_pcl
+$ . install/setup.bash
+```
 
 ## pipe_msgs
 This module contains ros msgs for storing information about the detected object's bounding box.
@@ -45,6 +59,7 @@ 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
+$ . install/setup.bash
 $ ros2 launch find-pose find-pose-node.launch.py
 ```
 All the topics can be remapped in the launch file.
@@ -70,6 +85,7 @@ The following are the output topics:
 How to build and run?
 ```
 $ colcon build --packages-select yolov3_ros
+$ . install/setup.bash
 $ 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.
@@ -143,14 +159,6 @@ pip install -e .
 rosbags-convert ../single_depth_color_640x480.bag
 ```
 
-## perception_pcl
-
-
-### pcl_conversions
-
-### pcl_ros
-
-
 ## flann_based
 Module that uses 3D model of the pipe to estimate pose. This method was not successful.
 
@@ -163,6 +171,23 @@ This module was provides interface to run neural network as rosnodes. The purpos
 ## darknet_vendor
 This module was needed to build darknet_ros2.
 
-
-
-
+# How to run live detection?
+Once you have succefully built the ROS Modules specifically, `yolov3_ros` and `find-pose` along with dependencies like `pipe_msgs` and `perception_ros`, `perception_pcl`, you can do the following:
+1. Open a terminal.
+2. Run `$ cd greenhouse/ros2_ws/` and `$ . install/setup.bash`.
+3. Launch node for object detection:
+```
+$ ros2 launch yolov3_ros pipe_detection.launch.py
+```
+This node will output two topics: `/bboxes` and `/detection_image`.
+4. Launch node for pose estimation:
+```
+$ ros2 launch find-pose find-pose-node.launch.py
+```
+This node will output TF topics between `/camera_link` and `/${detected_object_name}`.
+5. Open RVIZ by running `$ rviz2`. Change `fixed frame` from `map` to `camera_link`.
+5a. Go to `Add` button. Under `By Display type`, select `tf`. Once tf is added, select required frames like `camera_link` and `l_trail` to see the tfs.
+5b. To see the current image with detected object, Go to `Add` Button. Under `By Topic`, select topci called `detection_image`.
+You can add other topics as per the need and topic names. 
+6. You can open launch files to update/remap topic name if different camera is being used. 
+7. You can also update ros parameter from launch file. Currently, the `pipe_weights.pt` file is the one used. This file can be changed and you can update the parameter name `best_weights` inside the `pipe_detection.launch.py` file.
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