vise.md

@@ -15,7 +15,7 @@ Actual implementation is just a proof-of-concept prototype with lot of assumptio
 * The movement of the platform is smooth and slow
 * The environment is feature rich to allow visual odometry to work
 
-The implementation make use of following existing libraries (ros packages):
+The implementation make use of following existing libraries (and related ROS packages):
 * RTabMap (rtabmap_ros)
 * Extended KalmanFilter (robot-localization)
 * UR driver (ur_modern_driver)
@@ -24,10 +24,28 @@ The implementation make use of following existing libraries (ros packages):
 
 AprilTag is encapsulated into the ros packages which is part of this repository. 
 
+Explanation of the library usage
+--------------------------------
+###RTabMap
+RTab Map is a Simultaneous Localization and Mapping (SLAM) library making use of RGB-D sensors. 
+It can utilize different kinds of sensor (kinects, zed camera etc).
+It is used to compute the relative movement of the platform. 
+In current implementation only the speed (3 linear and 3 angular components) are utilized.
+
+###Kalman Filter
+Extended Kalman filter is used to filter and smooth the speed estimation of the platform provided by RTab Map library. 
+The position and speed provided by RTabMap is quite noisy and the position itself can vary in successive steps for more than 5 cm. 
+The speed is therefore filtered by Extended Kalman filter. 
+The robot_localization ros package needs the configuration file which is located at ....
+
+###Freenect
+Freenect is open source library to get data from the Microsoft Kinnect sensor. 
 
 
 run the visual servoing 
 ------------------------
+Verified in ROS Indigo. I did not use a single launch file, as it is easier to debug separate modules in separate consoles. 
+
 1. roslaunch ur_description ur5_upload.launch (??)
 1. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=130.149.108.91
 1. roslaunch tutorial visual_servoing.launch 
@@ -37,3 +55,4 @@ run the visual servoing
 1. rosrun tf static_transform_publisher -0.47 -0.0 0.24 0 3.14 -1.57 base_link camera_link 40 
 1. roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start"
 1. roslaunch robot_localization ekf_template.launch 
+