Update README

Author: mintar

README.md

@@ -1,56 +1,78 @@
 IMU tools for ROS
-===================================
+=================
 
 Overview
------------------------------------
+--------
 
-IMU-related filters and visualizers. The stack contains:
+IMU-related filters and visualizers. The repository contains:
 
- * `imu_filter_madgwick`: a filter which fuses angular velocities,
-accelerations, and (optionally) magnetic readings from a generic IMU
-device into an orientation. Based on the work of [1].
+* `imu_filter_madgwick`: a filter which fuses angular velocities,
+  accelerations, and (optionally) magnetic readings from a generic IMU
+  device into an orientation. Based on the work of [1].
 
- * `imu_complementary_filter`: a filter which fuses angular velocities,
-accelerations, and (optionally) magnetic readings from a generic IMU
-device into an orientation quaternion using a novel approach based on a complementary fusion. Based on the work of [2].
+* `imu_complementary_filter`: a filter which fuses angular velocities,
+  accelerations, and (optionally) magnetic readings from a generic IMU
+  device into an orientation quaternion using a novel approach based on a
+  complementary fusion. Based on the work of [2].
+
+* `rviz_imu_plugin` a plugin for rviz which displays `sensor_msgs::Imu` messages
+
+[1]: https://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
+
+[2]: https://www.mdpi.com/1424-8220/15/8/19302
 
- * `rviz_imu_plugin` a plugin for rviz which displays `sensor_msgs::Imu`
-messages
 
 Installing
------------------------------------
+----------
+
+### From binaries
+
+This repo has been released into all current ROS1 and ROS2 distros. To install,
+simply:
+
+    sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools
 
-### From source ###
+### From source (ROS1)
 
-[Create a catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)
-(e.g., `~/ros-hydro-ws/`) and source the `devel/setup.bash` file.
+[Create a catkin workspace](https://wiki.ros.org/catkin/Tutorials/create_a_workspace)
+(e.g., `~/catkin_ws/`) and source the `devel/setup.bash` file.
 
 Make sure you have git installed:
 
-    sudo apt-get install git-core
+    sudo apt-get install git
 
-Download the stack from our repository into your catkin workspace (e.g.,
-`ros-hydro-ws/src`; use the proper branch for your distro, e.g., `groovy`,
-`hydro`...):
+Clone this repository into your catkin workspace (e.g., `~/catin_ws/src`; use
+the proper branch for your distro, e.g., `melodic`, `noetic`, ...):
 
-    git clone -b <distro> https://github.com/ccny-ros-pkg/imu_tools.git
+    git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git
 
-Install any dependencies using [rosdep](http://www.ros.org/wiki/rosdep).
+Install any dependencies using [rosdep](https://www.ros.org/wiki/rosdep).
 
     rosdep install imu_tools
 
 Compile the stack:
 
-    cd ~/ros-hydro-ws
+    cd ~/catkin_ws
     catkin_make
 
+### From source (ROS2)
+
+Follow the steps from the ROS2 [Creating a
+workspace](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html)
+documentation, but instead of cloning the sample repo, clone the proper branch
+of this repo instead:
+
+    git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git
+
+
 More info
------------------------------------
+---------
 
-http://wiki.ros.org/imu_tools
+All nodes, topics and parameters are documented on [this repo's ROS wiki
+page](https://wiki.ros.org/imu_tools).
 
 
-pre-commit Formatting Checks
+pre-commit formatting checks
 ----------------------------
 
 This repo has a [pre-commit](https://pre-commit.com/) check that runs in CI.
@@ -74,16 +96,10 @@ pre-commit install
 ```
 
 License
------------------------------------
-
- * `imu_filter_madgwick`: currently licensed as GPL, following the original implementation
-
- * `imu_complementary_filter`: BSD
+-------
 
- * `rviz_imu_plugin`: BSD
+* `imu_filter_madgwick`: currently licensed as GPL, following the original implementation
 
-References
------------------------------------
- [1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
+* `imu_complementary_filter`: BSD
 
- [2] http://www.mdpi.com/1424-8220/15/8/19302
+* `rviz_imu_plugin`: BSD