README reviewed

README.txt

@@ -4,26 +4,32 @@ Project team members:
 	-865784, Colombo, Marco
 
 The archive contains the ros package directory "odometry" structured as follows:
-	-CMakeList.txt: automatically created by ros. It contains all the configurations
-			used by ros to build the executables of the package such as dependencies,
-			packege files names etc.
-	-package.xml: another ros generated file with similar porpouse to the CMakeList file.
+	-CMakeList.txt: automatically created by ros. It contains all the configurations used by ros to build the executables of the package such as dependencies, package files names etc.
+	-package.xml: another ros generated file with the purpose of collecting package settings, dependencies, output.
 	-frames.pdf: scheme of the tf tree.
 	-[dir]msg: contains .msg files used to describe custom messages.
 		-CustomOdometry.msg: message type published on "custom_odometry" topic.
-				     It contains Odometry.msg information on computed odometry
-				     and a strig specifing the odometry model adopted.
-		-floatStamped.msg: message type used to read messages generated by the .bag
-				   files provided.
-	-[dir]src: contains the .cpp source code files
-		-odometry_node: it's the only source file of the packege and contains the
-				odometry computation function and all the subscribig/publishing
-				logic.
-	-[dir]cfg:
-
-
-Configuration.....finaz
-
+				     It contains Odometry.msg information on computed odometry and a string specifying the odometry model adopted.
+		-floatStamped.msg: message type used to read messages generated by the .bag files provided.
+	-[dir]src: contains the .cpp source code files.
+		-odometry_node: it's the only source file of the package and contains the odometry computation function and all the subscribing/publishing logic.
+	-[dir]cfg: contains the .cfg python code file.
+		-parameters.cfg: describes the set of parameters available in odometry_node. 
+
+
+Parameters:	
+	-odometry_model_mode: enumeration of boolean.
+		-True -> Differential drive;
+		-False -> Ackerman model.
+	-odometry_reset_default: if set to true, set position to default values.
+	-odometry_set_position: if set to true, set position to values expressed by the following two parameters:
+		-odometry_x_position;
+		-odometry_y_position.
+
+	Note: odometry_node gives higher priority to the odometry_set_position parameter over odometry_reset_default, that is, if both *set* and *reset* params are set to true, odometry_reset_default will be ignored.	
+
+TF tree structure:
+	see frames.pdf file.
 
 Custom messages:
 	-odometry/floatStamped:
@@ -34,4 +40,7 @@ Custom messages:
 		std_msgs/String odometryModel
 		nav_msgs/Odometry odometry
 
-
+Stratup command:
+		rosrun odometry odometry_node
+		rostopic echo /odometry
+		rosbag play $path_to_bag$/bag_1.bag