documentation updates

README.md

@@ -67,7 +67,7 @@ To compile the project:
 - `$ roslaunch path_planning rtab_mapping_navigation.launch` 
 
 <center>
-	<img src="./media/running.png" alt="image" width="640"/>
+	<img src="./media/path_planning_2.png" alt="image" width="640"/>
 </center>
 
 🚙 Bon Voyage 😀

ros/README.md

@@ -1,8 +1,8 @@
-# Important ROS Information
+# ROS Information
 Below you will find information about all the ROS packages, nodes, topics used in this project.
 
 ## Packages & Nodes
-Here is a list of packages. Underneath each package are nodes in that package.
+Here is a list of packages. Underneath each package are nodes in that package. 
 
 ------------------------------
 
@@ -70,16 +70,14 @@ Semantic segmentation node. Deep learning, ConvNets
 ##### Subscribes
 - `/camera_node/image_raw`
 
-------------------------------
-
-### camera
+<!--### camera
 The cameras are the main sensors of the self-driving car. 
 
 ##### Nodes:
 - `camera_node`
 
 ##### Publishes
-- `/camera_node/image_raw`
+- `/camera_node/image_raw`-->
 
 ------------------------------
 
@@ -116,7 +114,7 @@ The logger node records and compiles a dataset for supervised machine learning p
 
 ------------------------------
 
-### osm_cartography
+<!--### osm_cartography
 
 #### Nodes:
 - `osm_client`
@@ -125,7 +123,7 @@ The logger node records and compiles a dataset for supervised machine learning p
 
 This package broadcasts and processes .osm files. OSM files are OpenStreetMap files which contain detailed information about the environment, 
 such as coordinates of roads, building and landmarks. Currently, the main function of the package is to broadcast the osm info to rviz for 
-visualization. (Node currently functioning)
+visualization. (Node currently functioning)-->
 
 ### topics for visualization
 - /visual/steering/angle_img

ros/src/navigation/README.md

@@ -9,20 +9,18 @@
 
 ## The Navigation Stack
 
-<center>
-	<img src="https://github.com/sigmaai/self-driving-golf-cart/media/nav_stack.png" alt="Drawing" width="640"/>
-</center>
+![image](https://raw.githubusercontent.com/sigmaai/self-driving-golf-cart/master/media/nav_stack.png)
 
 The self-driving vehicle uses a modified version of the ROS navigation stack. The flowchart above illustrate the mapping and path planning process. First, I create a detailed map of the environment with `rtabmap_ros`. With that global map, I use the localization feature of `rtabmap_ros` and the odom feature of the zed camera system to localize and plan paths. 
 
 <a name="RTABMap" > </a>
 
 ### RTABMap
 
-`rtabmap` (realtime appearance based mapping) allows me to construct a global map of the environment. For more information on the mapping package, please check out this [`.launch` file](./ros/src/navigation/mapping/launch/rtab_mapping.launch). 
+`rtabmap` (realtime appearance based mapping) allows me to construct a global map of the environment. RTABMap is also used to initialize the location of the vehicle. For more information on the mapping package, please check out this [`.launch` file](./ros/src/navigation/mapping/launch/rtab_mapping.launch) or their [ROS wiki website](http://wiki.ros.org/rtabmap_ros). 
 
 <center>
-	<img src="https://github.com/sigmaai/self-driving-golf-cart/media/rtab-map.png" alt="Drawing" width="640"/>
+	<img src="https://raw.githubusercontent.com/sigmaai/self-driving-golf-cart/master/media/rtab-map.png" alt="Drawing" width="640"/>
 </center> 
 
 <a name="Path%20Planning" > </a>
@@ -32,27 +30,23 @@ The self-driving vehicle uses a modified version of the ROS navigation stack. Th
 The project uses the [`move_base`](http://wiki.ros.org/move_base) node from the navigation stack. The image below shows the costmap (in blue and purple), and the global occupancy grid (in black and gray). `move_base` also plans the local and global path. Global paths are shown in green and yellow below. You can find the `yaml` files [here](./ros/src/navigation/path_planning/params). 
 
 <center>
-	<img src="https://github.com/sigmaai/self-driving-golf-cart/media/path_plan_1.png" alt="Drawing" width="640"/>
+	<img src="https://raw.githubusercontent.com/sigmaai/self-driving-golf-cart/master/media/path_plan_1.png" alt="Drawing" width="640"/>
 </center>
 
 <a name="Vehicle%20Motion%20Control" > </a>
 
 ### Vehicle Motion Control
 
-The move base node publishes `/cmd_vel` commands, which are processed and sent directly to the vehicle. 
+The move base node publishes `/cmd_vel` commands, which are processed and sent directly to the vehicle. There are two Arduinos on the golf cart that control steering, acceleration and braking. 
 
 
 # rqt_graph
 
 <center>
-	<img src="https://github.com/sigmaai/self-driving-golf-cart/media/rosgraph-active.png" alt="Drawing" width="640"/>
+	<img src="https://raw.githubusercontent.com/sigmaai/self-driving-golf-cart/master/media/rosgraph-active.png" alt="Drawing" width="640"/>
 </center>
 
 # Contact / Info
 If you are interested in the detailed development process of this project, you can visit Neil's blog at [neilnie.com](https://neilnie.com) to find out more about it. Neil will make sure to keep you posted about all of the latest development on the club.
 
-**Developers:**
-
-<img src="https://github.com/sigmaai/self-driving-golf-cart/media/neil.png" alt="Drawing" width="80"/>
-
 **Neil (Yongyang) Nie** | [Email](mailto:[email protected]) | [Github](https://www.github.com/NeilNie) | [Website](neilnie.com) | [Linkedin](https://www.linkedin.com/in/yongyang-neil-nie-896204118/)