Improve (a bit) README

PRBonn · Feb 23, 2023 · d88f646 · d88f646
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diff --git a/README.md b/README.md
@@ -1,25 +1,28 @@
 # KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
 
-![ubuntu](https://img.shields.io/badge/ubuntu-333333?style=flat&logo=ubuntu)
-![windows](https://img.shields.io/badge/windows-333333?style=flat&logo=windows&logocolor=blue)
-![macos](https://img.shields.io/badge/-macos-333333?style=flat&logo=apple)
-
 [![KISS-ICP demo](https://user-images.githubusercontent.com/21349875/211829074-474bec08-0129-4e34-85e7-62265e44a7de.png)](https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4
 )
 
-## 📰 NEWS!!! 📰 ROS API
+## ROS2 support
+
+It was never this easy, just git clone this repo into your catkin workspace and build it:
+
+```sh
+git clone https://github.com/PRBonn/kiss-icp && colcon build
+```
+
+## ROS1 support
 
 It was never this easy, just git clone this repo into your catkin workspace and build it:
 
 ```sh
 cd ~/catkin_ws/ && git clone https://github.com/PRBonn/kiss-icp && catkin build
 ```
 
-For more detailed instructions on the ROS wrapper, please visit [here](src/cpp/kiss_icp_ros/ros1/README.md)
+For more detailed instructions on the ROS wrappers, please visit this [README](ros/README.md)
 
 ## Install Python API
 
-We released a python-package supported on
 ![macos](https://img.shields.io/badge/-macos-333333?style=flat&logo=apple),
 ![windows](https://img.shields.io/badge/windows-333333?style=flat&logo=windows&logocolor=blue), and
 ![ubuntu](https://img.shields.io/badge/ubuntu-333333?style=flat&logo=ubuntu).
@@ -31,12 +34,6 @@ To get started, just run
 pip install kiss-icp
 ```
 
-If you also want to install all the *(optional)* dependencies, like Open3D for running the visualizer:
-
-```sh
-pip install "kiss-icp[all]"
-```
-
 Next, follow the instructions on how to run the system by typing:
 
 ```sh
@@ -47,41 +44,7 @@ This should print the following help message:
 ![out](https://user-images.githubusercontent.com/21349875/193282970-25a400aa-ebcd-487a-b839-faa04eeca5b9.png)
 
 
-### Install Python API (developer mode)
-
-If you plan to modify the code then you need to setup the dev dependencies, luckilly, the only real
-requirements are a modern C++ compiler and the `pip` package manager, nothing else!, in Ubuntu-based
-sytems this can be done with:
-
-```sh
-sudo apt install g++ python3-pip
-```
-
-After that you can clone the code and install the python api:
-
-```sh
-git clone https://github.com/PRBonn/kiss-icp.git
-cd kiss-icp
-pip install --verbose .
-```
-
-### Install Python API (expert mode)
-
-If you want to have more controll over the build, you should then install `cmake`, ,`ninja`, `tbb`,
-`Eigen`, and `pybind11` as extra dependencies in your system, the ubuntu-way of doing this is:
-
-```sh
-sudo apt install build-essential libeigen3-dev libtbb-dev pybind11-dev ninja-build
-```
-
-## Authors
-
-- Ignacio Vizzo 
-- Tiziano Guadagnino 
-- Benedikt Mersch 
-- Louis Wiesmann 
-- Jens Behley 
-- Cyrill Stachniss
+For advanced instructions on the Python pacakge plase see [this README](python/README.md)
 
 ## Citation
 

diff --git a/cpp/kiss_icp/README.md b/cpp/kiss_icp/README.md
@@ -0,0 +1,8 @@
+# KISS-ICP C++ Library
+
+## How to build
+
+```sh
+cmake -Bbuild
+cmake --build build -j$(nproc --all)
+```
diff --git a/python/README.md b/python/README.md
@@ -1,8 +1,4 @@
-# KISS-ICP Python API
-
-![ubuntu](https://img.shields.io/badge/ubuntu-333333?style=flat&logo=ubuntu)
-![windows](https://img.shields.io/badge/windows-333333?style=flat&logo=windows&logocolor=blue)
-![macos](https://img.shields.io/badge/-macos-333333?style=flat&logo=apple)
+# KISS-ICP
 
 [![KISS-ICP demo](https://user-images.githubusercontent.com/21349875/211829074-474bec08-0129-4e34-85e7-62265e44a7de.png)](https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4
 )
@@ -36,6 +32,33 @@ kiss_icp_pipeline --help
 This should print the following help message:
 ![out](https://user-images.githubusercontent.com/21349875/193282970-25a400aa-ebcd-487a-b839-faa04eeca5b9.png)
 
+### Install Python API (developer mode)
+
+If you plan to modify the code then you need to setup the dev dependencies, luckilly, the only real
+requirements are a modern C++ compiler and the `pip` package manager, nothing else!, in Ubuntu-based
+sytems this can be done with:
+
+```sh
+sudo apt install g++ python3-pip
+```
+
+After that you can clone the code and install the python api:
+
+```sh
+git clone https://github.com/PRBonn/kiss-icp.git
+cd kiss-icp
+pip install --verbose .
+```
+
+### Install Python API (expert mode)
+
+If you want to have more controll over the build, you should then install `cmake`, ,`ninja`, `tbb`,
+`Eigen`, and `pybind11` as extra dependencies in your system, the ubuntu-way of doing this is:
+
+```sh
+sudo apt install build-essential libeigen3-dev libtbb-dev pybind11-dev ninja-build
+```
+
 ## Citation
 
 If you use this library for any academic work, please cite our original [paper](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf).

diff --git a/ros/README.md b/ros/README.md
@@ -1,33 +1,34 @@
-# KISS-ICP ROS1 node
+# KISS-ICP ROS wrappers
 
 This node is just an application example on how to use the KISS-ICP C++ API. It's still considered
 work in progress and we are very happy to receive any contribution from the comunity 👼
 
 https://user-images.githubusercontent.com/21349875/214578180-b1d2431c-8fff-440e-aa6e-99a1d85989b5.mp4
 
-## How to build
+## ROS2
+
+### How to build
 
 You should not need any extra dependency, just clone and build:
 
 ```sh
-cd ~/catkin_ws/
 git clone https://github.com/PRBonn/kiss-icp 
-catkin build
-source devel/setup.bash
+colcon build
+source ./install/setup.bash
 ```
 
-## How to run
+### How to run
 
-Example with ouster-bagfiles (newer college, etc)
+The only required argument to provide is the **topic name** so KISS-ICP knows which PointCloud2 to proces:
 
 ```sh
-roslaunch kiss_icp odometry.launch bagfile:=<path_to_rosbag> topic:=/os1_cloud_node/points
+roslaunch kiss_icp odometry.launch.py bagfile:=<path_to_rosbag> topic:=<topic_name>
 ```
 
 You can optionally launch the node with any bagfile, and play the bagfiles on a different shell:
 
 ```sh
-roslaunch kiss_icp odometry.launch topic:=/os1_cloud_node/points
+roslaunch kiss_icp odometry.launch.py topic:=<topic_name>
 ```
 
 and then,
@@ -36,12 +37,39 @@ and then,
 rosbag play <path>*.bag
 ```
 
-## Special case: how to run on KITTI
+## ROS1
+
+### How to build
+
+You should not need any extra dependency, just clone and build:
+
+```sh
+cd ~/catkin_ws/
+git clone https://github.com/PRBonn/kiss-icp 
+catkin build
+source devel/setup.bash
+```
+
+### How to run
+
+The only required argument to provide is the **topic name** so KISS-ICP knows which PointCloud2 to proces:
+
+```sh
+roslaunch kiss_icp odometry.launch bagfile:=<path_to_rosbag> topic:=<topic_name>
+```
+
+You can optionally launch the node with any bagfile, and play the bagfiles on a different shell:
+
+```sh
+roslaunch kiss_icp odometry.launch topic:=<topic_name>
+```
 
-TODO: add external repo to avoid extra uglyness
+and then,
 
-## How to run the evaluation
+```sh
+rosbag play <path>*.bag
+```
 
-This is WIP, any suggestion on how this should be done is more than welcome! Just open an issue with
-your proposal.
+## Out of source builds
 
+Good news! If you don't have git or you don't need to change the core KISS-ICP library, you can just copy paste this folder into your ROS1/ROS2 workspace and build as usual. The build system will fetch the latest stable release for you.