Merge pull request #43 from Field-Robotics-Japan/develop

Update README

README.md

@@ -1,98 +1,47 @@
-# UnitySensors
+## UnitySensors
 
 [![Acquire activation file](https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets/workflows/Acquire%20activation%20file/badge.svg)](https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets/actions?query=workflow%3A%22Acquire+activation+file%22)
 [![CI](https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets/workflows/CI/badge.svg)](https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets/actions?query=workflow%3ACI)
 
 ![unity_sensors_ros_assets](.image/unity_sensors_ros_assets.gif)
+
+## Overview
 Robot sensor packages available on Unity.
 You can communicate sensor info via ROS and ROS2 using ROSTCPConnector and ROSTCPEndpoint.  
 
 The following sensors are added.
 
-- 3D LiDAR (Velodyne VLP-16)
-- 2D LiDAR (Hokuyo UST-30LX)
-- RGB Camera (Logitech C910)
+- Velodyne 3D LiDAR (Velodyne VLP-16, VLP-16-HiRes, VLP-32)
+- Livox 3D LiDAR(Avia, Horizon, Mid40, Mid70, Tele)
+- RGB Camera
+- RGBD Camera
 - IMU
+- GNSS
+- (GroundTruth)
+- (TF)
 
 There are several Prefab and Scene files available for testing each sensor.
-Check [this directory](https://github.com/Field-Robotics-Japan/sensors_unity/tree/develop/Assets/Scenes).
-
-# How to use (ROS)
-## 1. Launch ROS packages
-### 1-1 ros_tcp_endpoint
-Launch the `ros_tcp_endpoint` with following command.
-```bash
-roslaunch ros_tcp_endpoint endpoint.launch 
-```
-
-### 1-2 Sensors
-#### 1-2-1 velodyne_pointcloud
-Launch the `velodyne_pointcloud` package with following launch file.  
-Please create launch file by copy and paste following script.  
-**The version of `velodyne_pointcloud` package should be later than 1.6.0.**  
-If you fail to lanch following launch file, please download velodyne package directoly into your workspace, build it, and launch them again.  
-https://github.com/ros-drivers/velodyne
-```xml
-<launch>
-  <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml" />
-  <arg name="manager" default="velodyne_pointcloud" />
-  <arg name="max_range" default="100.0" />
-  <arg name="min_range" default="0.1" />
-  <arg name="frame_id" default="velodyne" />
-
-  <node pkg="velodyne_pointcloud" type="transform_node" name="$(arg manager)">
-    <param name="model" value="VLP16"/>
-    <param name="calibration" value="$(arg calibration)"/>
-    <param name="max_range" value="$(arg max_range)"/>
-    <param name="min_range" value="$(arg min_range)"/>
-    <param name="frame_id" value="$(arg frame_id)"/>
-    <!-- <param name="view_direction" value="0"/> -->
-    <!-- <param name="view_width" value="360"/> -->
-  </node>
-</launch>
-```
-
-#### 1-2-2 RGB Camera
-Image communication between Unity and ROS is done using JPEG compression.  
-You can set the topic name in the Unity inspector window.  
-
-**Note** :  
-Message type is sensor_msgs/CompressedImage.
-So, the topic name must end with "/compressed".
 
-In order to handle sensor_msgs/CompressedImage,  
-launch the `image_transport` package with following launch file.  
-Please create launch file by copy and paste following script.
-
-```xml
-<launch>
-    <node name="image_republish" pkg="image_transport" 
-          type="republish" args="compressed raw">
-      <remap from="input" to="/image_raw/compressed" />
-      <remap from="output" to="/image_exp" />
-    </node>
-</launch>
-```
-If you want to check the images in Rviz, you don't need to use the above launch file.
+## Dependencies
+- [RosTCPConnector](https://github.com/Unity-Technologies/ROS-TCP-Connector) (Appache 2.0 LICENSE)
 
-#### 1-2-3 IMU
-It can be used in the same way as a normal IMU sensor.
+## Package Installation (For using UnitySensors in your project)
+1. Using Unity 2021.3 or later, open the Package Manager from `Window` -> `Package Manager`.
+2. In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select `Add package from git URL....`
 
-## 2. Clone and run on Unity
-1. Just to clone this repo with `git clone --recursive https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets.git` command.
-1. Then, open the project file with UnityHub.
-1. Finally, run the scene file for the sensor you want to test.
+3. Enter the git URL for the desired package. 
+    1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v1.0b`.
+    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensorsROS.git?path=/Assets/UnitySensorsROS#v1.0b`.
+    __Note: UnitySensorsROS does not contain UnitySensors.__
+4. Click `Add`.
 
-You can try all the sensors in the "`Sensors`" scene file.
+## Documentation
 
-# LICENSE
+## LICENSE
 Copyright [2020-2021] Ryodo Tanaka [email protected]
 
 Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
 
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
-## Dependencies
-- [RosTCPConnector](https://github.com/Unity-Technologies/ROS-TCP-Connector) (Appache 2.0 LICENSE)