home.md

@@ -2,40 +2,13 @@
 
 ROS Node that connects to multiple RTIS sensors in the RTIS Network or to a single sensor using RTIS Dev to publish RTIS sensor data.
 
-## Dependencies
-* ROS Noetic using Python 3
-* Python modules (best to install these with `python -m pip install x` to link to correct version of Python used by ROS):
-  * multiprocessing-logging
-  * Numpy
-  * Scipy (use `python -m pip install scipy==0.16` if having issues installing scipy on Python 2.7)
-* [RTIS Network](https://cosysgit.uantwerpen.be/rtis-software/rtisnetwork "RTIS Network") if using multiple sensors. Supported RTIS Network version: v2.13.0 and above.
-* RTIS Dev v2.11.0 or higher (see [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev "RTIS Dev Git repository"))
-* RTIS Dev Remote Python Wrapper v2.11.0 or higher (see [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdevremotepy "RTIS Dev Remote Py Git repository")), if using remote version
-
-
-## Installation
-This repository is structured as a ROS package. You need to install it in a catkin workspace. For example:
-```bash
-mkdir -p ~/catkin_ws/src
-cd ~/catkin_ws/
-catkin_make
-source ./devel/setup.bash
-cd src
-git clone https://cosysgit.uantwerpen.be/rtis-software/rtisros.git
-cd rtisros
-git submodule init
-git submodule update
-cd ~/catkin_ws/
-catkin_make
-```
-
 ## Usage
 
 ### RTIS Network (multiple sensors)
 
 #### Launch Publisher
 Once an RTIS Network is available you can launch the RTIS ROS Publisher with the provided [RTIS Network publisher launch file](launch/rtis_network_publisher.launch). This will connect to the RTIS Network and publish all the sonar measurements on the correct topics.
-You can adjust this launch file to toggle on or off specific topics and give specific naming schemes for the topic names and frame ids to fit your needs. The TF-tree is automatically created and broadcasted by requesting the RTIS Client poses from the RTIS Network API.
+You can adjust this launch file to toggle on or off specific topics and give specific naming schemes for the topic names and frame ids to fit your needs. The TF-tree is optionally automatically created and broadcast by requesting the RTIS Client poses from the RTIS Network API.
 To use the launch file, you can use:
 ```bash
 cd ~/catkin_ws/
@@ -52,6 +25,7 @@ Depending on what you enable with the RTIS Publisher node launch parameters as s
    * _microphones_ field: this is an int8 variable that tells how many microphones the raw sonar data is containing. 
    * _index_ field: int32 field which tells the measurement index of the internal counter of the RTIS device.
    * _behaviour_ field: Bool field which tells if the measurement was using active or passive sonar behaviour.
+   * _config_name_ field: String field which tells the name of the configuration used for the measurement.
  * _RTISInfo_ topic: This is a custom message that has the same Header as the other topics in terms of frame and topic naming scheme. It is always enabled. It provides you with all hardware and DSP settings used
    by that particular RTIS sensor. Please see the [message](msg/RTISInfo.msg) itself for more details on the available variables. It is a latched message so will always be available. 
 
@@ -59,7 +33,7 @@ Depending on what you enable with the RTIS Publisher node launch parameters as s
 
 #### Launch Publisher
 You can launch the RTIS ROS Publisher with the provided [RTIS Dev publisher launch file](launch/rtis_dev_publisher.launch). This will connect to the sensor over RTIS Dev directly or RTIS Dev Remote depending on your choice and publish all the sonar measurements on the correct topics.
-You can adjust this launch file to configure the sensor, toggle on or off specific topics and give specific naming schemes for the topic names and frame ids to fit your needs. The TF-tree is automatically created and broadcasted by setting it correctly in the launch file.
+You can adjust this launch file to configure the sensor, toggle on or off specific topics and give specific naming schemes for the topic names and frame ids to fit your needs.
 To use the launch file, you can use:
 ```bash
 cd ~/catkin_ws/
@@ -85,4 +59,5 @@ Depending on what you enable with the RTIS Publisher node launch parameters as s
    * _microphones_ field: this is an int8 variable that tells how many microphones the raw sonar data is containing. 
    * _index_ field: int32 field which tells the measurement index of the internal counter of the RTIS device.
    * _behaviour_ field: Bool field which tells if the measurement was using active or passive sonar behaviour.
+   * _config_name_ field: String field which tells the name of the configuration used for the measurement.
  * _RTISInfo_ topic: This is a custom message that has the same Header as the other topics in terms of frame and topic naming scheme. It is always enabled. It provides you with all hardware and DSP settings used. Please see the [message](msg/RTISInfo.msg) itself for more details on the available variables. It is a latched message so will always be available.