Update docs

README.md

@@ -1,5 +1,5 @@
 # Simulation Stack
-This package allows you to simulate Marvin (ARV's 2022-2024 robot) using RViz and Gazebo
+This package allows you to simulate ARV robots using RViz and Gazebo
 
 
 ## Package Dependencies
@@ -23,8 +23,7 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 ## Installation
 1. ```cd``` into ```ws/src```
 2. ```git clone https://github.com/umigv/simulation_stack.git```
-3. ```cd simulation_stack```
-4. ```./scripts/setup.bash```
+3. ```./simulation_stack/scripts/setup.bash```
 
 
 ## Running the Stack
@@ -35,36 +34,17 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 4. ```source install/setup.bash```
 
 ### Launching
-Running ```ros2 launch simulation_marvin display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
+Running ```ros2 launch simulation_common display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
 
-Running ```ros2 launch simulation_marvin simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
-
-
-## Interfacing with the Stack
-### Topics
-#### Robot
-```/cmd_vel``` (```geometry_msgs/msg/Twist```) - target velocity for the robot to move in  
-```/odom``` (```nav_msgs/msg/Odometry```) - an estimation of the robot's position and velocity  
-
-#### LiDAR
-```/velodyne_points``` (```sensor_msgs/msg/PointCloud2```) - pointcloud output of the LiDAR  
-```/scan``` (```sensor_msgs/msg/LaserScan```) - converted laser scan of the LiDAR pointcloud on the x-y plane  
-
-#### Camera
-```/zed/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the camera  
-```/zed/depth/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the depth camera  
-```/zed/depth/image_raw``` (```sensor_msgs/msg/Image```) - Raw depth image  
-```/zed/image_raw``` (```sensor_msgs/msg/Image```) - Raw image  
-```/zed/points``` (```sensor_msgs/msg/PointCloud2```) - Point cloud of the camera's depth data (warning: visualizing this in RViz is VERY computationally intensive)  
-
-#### IMU
-```/imu_controller/out``` (```sensor_msgs/msg/Imu```) - IMU data  
+Running ```ros2 launch simulation_common simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
 
 ### Launch File Arguments
 #### display.launch.py
+```model``` (default: ```marvin```) - the model to display (remove simulation_ to get model name)  
 ```joint_gui``` (default: ```True```) - whether to enable joint_state_publisher_gui
 
 #### simulation.launch.py
+```model``` (default: ```marvin```) - the model to simulate (remove simulation_ to get model name)  
 ```headless``` (default: ```False```) - whether to enable RViz. If you have other code that runs their own instance of RViz (ex. Nav2), you should set headless to True  
 ```world``` (default: ```empty```) - Name of the Gazebo world file in the world directory
 
@@ -79,12 +59,16 @@ Running ```ros2 launch simulation_marvin simulation.launch.py``` will spawn the
 ### Simulation Stack as a Subpackage
 Since multiple subteams may use this stack as a dependency, **do not include this stack directly in another subteam stack either as a package or git submodule**. Having multiple instances in the same package will result in conflicts. Instead, develop with simulation without adding simulation to your repostitory, and include this project as a submodule in the main stack.
 
+
 ## Sample Image
 ![image](https://github.com/umigv/simulation_stack/assets/71594512/d06b174b-d1e1-4ed9-87ef-9c0c3b0abce3)
 ![image](https://github.com/umigv/simulation_stack/assets/71594512/9130685b-c081-4591-942f-6b38e1be852f)
 
+
 ## Learning more
-Visit the [wiki](https://github.com/umigv/simulation_stack/wiki) to learn about how to set up robot models for simulation
+Visit the [wiki](https://github.com/umigv/simulation_stack/wiki) to learn about how to set up robot models for simulation  
+Go into the folder of individual robots to see the topics that is outputted
+
 
 ## Possible Issues
 ### symbol lookup error: ... undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE
@@ -101,4 +85,4 @@ This error is caused by [snap variables leaking into terminal variables](https:/
 ## Credits
 Jason Ning and Kari Naga on the sensors team, who created the original URDF files and the Gazebo World in the [marvin](https://github.com/umigv/marvin/tree/main/urdf) repository.  
 
-[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/simulation_marvin/world/LICENSE)
+[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/simulation_common/world/LICENSE)

simulation_marvin/readme.md

@@ -0,0 +1,21 @@
+## Marvin
+ARV's robot used in IGVC 2024
+
+## Topics
+### Robot
+```/cmd_vel``` (```geometry_msgs/msg/Twist```) - target velocity for the robot to move in  
+```/odom``` (```nav_msgs/msg/Odometry```) - an estimation of the robot's position and velocity  
+
+### LiDAR
+```/velodyne_points``` (```sensor_msgs/msg/PointCloud2```) - pointcloud output of the LiDAR  
+```/scan``` (```sensor_msgs/msg/LaserScan```) - converted laser scan of the LiDAR pointcloud on the x-y plane  
+
+### Camera
+```/zed/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the camera  
+```/zed/depth/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the depth camera  
+```/zed/depth/image_raw``` (```sensor_msgs/msg/Image```) - Raw depth image  
+```/zed/image_raw``` (```sensor_msgs/msg/Image```) - Raw image  
+```/zed/points``` (```sensor_msgs/msg/PointCloud2```) - Point cloud of the camera's depth data (warning: visualizing this in RViz is VERY computationally intensive)  
+
+### IMU
+```/imu_controller/out``` (```sensor_msgs/msg/Imu```) - IMU data