Update docs

README.md

@@ -11,16 +11,28 @@
 mrpt_navigation
 ===============
 
-This repository provides packages that wrap functionality in the Mobile Robot Programming Toolkit ([MRPT](https://github.com/MRPT/mrpt/)) related to localization and navigation. SLAM and sensor access are wrapped into [other ROS repositories](https://github.com/mrpt-ros-pkg/).
+This repository provides packages that wrap functionality in the Mobile Robot Programming Toolkit ([MRPT](https://github.com/MRPT/mrpt/)) related to localization and navigation. MRPT SLAM and sensor access are wrapped into [other ROS repositories](https://github.com/mrpt-ros-pkg/).
+
+The latest **SLAM framework**, whose maps are compatible with this repository for localization, is [MOLA](https://github.com/MOLAorg/).
 
 
 Documentation for each package
 ----------------------------------
 
-* [mrpt_local_obstacles](mrpt_local_obstacles): A node that maintains a local obstacle map.
+Related to localization:
+* [mrpt_map](mrpt_map): A node that loads a ROS standard gridmap or an MRPT or MP2P_ICP map and publishes it to a (set of) topic(s).
 * [mrpt_pf_localization](mrpt_pf_localization): A node for particle filter-based localization of a robot from any kind of metric map (gridmap, points, range-only sensors, ...).
-* [mrpt_map](mrpt_map): A node that loads a ROS standard gridmap or an MRPT map and publishes it to a topic.
-* ...
+
+Related to sensor pipelines:
+* [mrpt_local_obstacles](mrpt_local_obstacles): A node that maintains a local obstacle map, mostly needed for 2D lidars to keep a memory of obstacles that get out of the sensor field of view.
+
+Related to autonomous navigation:
+* [mrpt_reactivenav2d](mrpt_reactivenav2d): A pure reactive navigator for polygonal robots on 2D worlds.
+
+Others:
+* [mrpt_rawlog](mrpt_rawlog): Nodes and CLI tools to convert between MRPT rawlog format and ROS rosbag2.
+* [mrpt_tutorials](mrpt_tutorials): Launch and configuration files for the various examples provided for the other packages.
+* [mrpt_msgs_bridge](mrpt_msgs_bridge): C++ library to convert between custom [mrpt_msgs](https://github.com/mrpt-ros-pkg/mrpt_msgs) messages and native MRPT classes
 
 
 General documentation

mrpt_pf_localization/README.md

@@ -143,8 +143,8 @@ This package provides [launch/localization.launch.py](launch/localization.launch
 
 which can be used in user projects to launch the MRPT PF localization node, by setting these [launch arguments](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Using-Substitutions.html):
 
-* ``mrpt_map_config_file`` and ``mrpt_simplemap_file``: If used together, they select an MRPT map to be loaded as
-  reference map for the localization algorithm. These two files work as described in ["format 2"](https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map#working-rationale) in the docs for ``mrpt_map``.
+* ``mrpt_map_config_file``: Path to an INI file with metric map (mrpt::maps::CMetricMap) parameters to override the incoming map `likelihoodOptions`. 
+  If this optional parameter is not provided, likelihood options will be taken from the map sent by the [mrpt_map](https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map) node.
 * ``pf_params_file`` (Default: [params/default.config.yaml](params/default.config.yaml)): If defined, overrides the default
 particle filter algorithm. Note that probabilistic likelihood models for the metric maps are in an independent file (``mrpt_map_config_file``).
 

mrpt_pf_localization/launch/localization.launch.py

@@ -22,12 +22,6 @@ def generate_launch_description():
         "mrpt_map_config_file", default_value=TextSubstitution(
             text=os.path.join(pfLocDir, 'params', 'map-occgrid2d.ini')))
 
-    mrpt_simplemap_file_launch_arg = DeclareLaunchArgument(
-        "mrpt_simplemap_file", default_value='')
-
-    mrpt_metricmap_file_launch_arg = DeclareLaunchArgument(
-        "mrpt_metricmap_file", default_value='')
-
     pf_params_file_launch_arg = DeclareLaunchArgument(
         "pf_params_file", default_value=TextSubstitution(
             text=os.path.join(pfLocDir, 'params', 'default.config.yaml')))
@@ -47,17 +41,13 @@ def generate_launch_description():
             LaunchConfiguration('pf_params_file'),
             {
                 "mrpt_map_config_file": LaunchConfiguration('mrpt_map_config_file'),
-                "mrpt_simplemap_file": LaunchConfiguration('mrpt_simplemap_file'),
-                "mrpt_metricmap_file": LaunchConfiguration('mrpt_metricmap_file'),
             }],
         arguments=['--ros-args', '--log-level',
                    LaunchConfiguration('log_level')]
     )
 
     return LaunchDescription([
         mrpt_map_config_file_launch_arg,
-        mrpt_simplemap_file_launch_arg,
-        mrpt_metricmap_file_launch_arg,
         pf_log_level_launch_arg,
         pf_params_file_launch_arg,
         pf_localization_node,

mrpt_tutorials/launch/demo_localization_pf_mvsim_2d_lidar.launch.py

@@ -23,7 +23,6 @@ def generate_launch_description():
             get_package_share_directory('mrpt_pf_localization'), 'launch',
             'localization.launch.py')]),
         launch_arguments={
-            'mrpt_metricmap_file': os.path.join(tutsDir, '', ''),
             'log_level': 'INFO',
         }.items()
     )