From 9a8ef6b82aefae87475ce7576e5458987734d6d4 Mon Sep 17 00:00:00 2001
From: horverno <horverno@gmail.com>
Date: Mon, 17 Jun 2024 09:23:12 +0200
Subject: [PATCH 1/2] Updated ROS 2 commands

---
 README.md | 38 +++++++++++++++++++++++++++++++-------
 1 file changed, 31 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 58615af0..2f2c373e 100644
--- a/README.md
+++ b/README.md
@@ -23,8 +23,8 @@ Also note that the LiDAR and IMU sensors _need_ to be properly time-synchronized
 ### Dependencies
 The following has been verified to be compatible, although other configurations may work too:
 
-- Ubuntu 20.04
-- ROS Noetic (`roscpp`, `std_msgs`, `sensor_msgs`, `geometry_msgs`, `nav_msgs`, `pcl_ros`)
+- Ubuntu 22.04
+- ROS Humble (`rclcpp`, `std_msgs`, `sensor_msgs`, `geometry_msgs`, `nav_msgs`, `pcl_ros`)
 - C++ 14
 - CMake >= `3.12.4`
 - OpenMP >= `4.5`
@@ -35,19 +35,35 @@ The following has been verified to be compatible, although other configurations
 sudo apt install libomp-dev libpcl-dev libeigen3-dev
 ```
 
-DLIO currently only supports ROS1, but we welcome any contributions by the community to add ROS2 support!
+DLIO currently supports `ROS 1` and `ROS 2`!
 
 ### Compiling
 Compile using the [`catkin_tools`](https://catkin-tools.readthedocs.io/en/latest/) package via:
 
 ```sh
-mkdir ws && cd ws && mkdir src && catkin init && cd src
-git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
-catkin build
+mkdir ~/ros2_ws && cd ~/ros2_ws && mkdir src && cd src
+```
+```sh
+git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry
+```
+```sh
+cd ~/ros2_ws
+```
+```sh
+colcon build --symlink-install --packages-select direct_lidar_inertial_odometry
 ```
 
 ### Execution
-After compiling, source the workspace and execute via:
+
+<details>
+<summary> After compiling, don't forget to source before ROS commands.</summary>
+
+``` bash
+source ~/ros2_ws/install/setup.bash
+```
+</details>
+
+Execute via:
 
 ```sh
 roslaunch direct_lidar_inertial_odometry dlio.launch \
@@ -56,6 +72,14 @@ roslaunch direct_lidar_inertial_odometry dlio.launch \
   imu_topic:=/robot/imu
 ```
 
+<details>
+<summary> Example command: </summary>
+
+``` bash
+ros2 launch direct_lidar_inertial_odometry dlio.launch.py rviz:=true pointcloud_topic:=/lexus3/os_center/points imu_topic:=/lexus3/os_center/imu
+```
+</details>
+
 Be sure to change the topic names to your corresponding topics. Alternatively, edit the launch file directly if desired. If successful, you should see the following output in your terminal:
 <br>
 <p align='center'>

From 429a384a1b74259a9675fc1a0828fbb0fb766d8c Mon Sep 17 00:00:00 2001
From: horverno <horverno@gmail.com>
Date: Tue, 18 Jun 2024 07:59:50 +0200
Subject: [PATCH 2/2] Clone with ROS 2 branch

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 2f2c373e..dd42c838 100644
--- a/README.md
+++ b/README.md
@@ -44,7 +44,7 @@ Compile using the [`catkin_tools`](https://catkin-tools.readthedocs.io/en/latest
 mkdir ~/ros2_ws && cd ~/ros2_ws && mkdir src && cd src
 ```
 ```sh
-git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry
+git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry -b feature/ros2
 ```
 ```sh
 cd ~/ros2_ws