Update README.md

README.md

@@ -1,9 +1,77 @@
-# Dataspeed ADAS Development Vehicle Kit
-![rviz screenshot](img/mkz_rviz.png)
+Dataspeed Drive-by-Wire Kit CAN Driver for CARMA
+================================================
 
-## Documentation and firmware updates
+This is a fork of the [dbw_mkz_ros](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/src/master/) package that is used for connecting to and configuring the [Dataspeed Drive-by-Wire Kit](https://www.dataspeedinc.com/adas-by-wire-system/) for Lincoln MKZ / Ford Fusion vehicles. This fork has been modified to allow for building a Docker image that can serve as a CAN driver for the [CARMA Platform](https://github.com/usdot-fhwa-stol/carma-platform).
+
+Ubuntu 20.04 Installation
+-------------------------
+Assuming the CARMA Platform is installed at `~/carma_ws/src`,
+```
+cd ~/carma_ws/src
+git clone https://github.com/VT-ASIM-LAB/dataspeed_can_driver.git
+cd dataspeed_can_driver/docker
+sudo ./build-image.sh -d
+```
+After the Docker image is successfully built, connect the Drive-by-Wire Kit USB cable to your device and run `lsusb` in the terminal to determine which bus and device number it has been assigned to. Assuming here that it is Device 007 on Bus 001, add the following lines to the appropriate `docker-compose.yml` file in the `carma-config` directory, and make sure that the current user (and not `root`) is the owner of `/dev/bus/usb/001/007`.
+```
+dataspeed-can-driver:
+  image: usdotfhwastoldev/carma-dataspeed-can-driver:develop
+  container_name: dataspeed-can-driver
+  network_mode: host
+  privileged: true
+  devices:
+    - /dev/bus/usb/001/007:/dev/bus/usb/001/007
+  volumes_from:
+    - container:carma-config:ro
+  environment:
+    - ROS_IP=127.0.0.1
+  volumes:
+    - /opt/carma/logs:/opt/carma/logs
+    - /opt/carma/.ros:/home/carma/.ros
+    - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
+  command: bash -c '. ./devel/setup.bash && export ROS_NAMESPACE=$${CARMA_INTR_NS} && wait-for-it.sh localhost:11311 -- roslaunch /opt/carma/vehicle/config/drivers.launch drivers:=dataspeed_can'
+```
+Finally, add the following lines to the `drivers.launch` file in the same directory as `docker-compose.yml`.
+```
+<include if="$(arg dataspeed_can)" file="$(find dbw_mkz_can)/launch/dbw.launch">
+  <arg name="frame_id" value="base_link"/>
+</include>
+```
+
+ROS API (stable)
+----------------
+
+### dbw_mkz_can
+
+#### Nodes
+* `vehicle/dbw_node`
+
+#### Topics
+* ``: .
+* ``: .
+* `vehicle/discovery`: publishes the CARMA [DriverStatus](https://github.com/usdot-fhwa-stol/carma-msgs/blob/develop/cav_msgs/msg/DriverStatus.msg) message.
+
+#### Services
+* ``
+
+#### Parameters
+* ``: .
+* `parameter`: .
+
+Examples
+--------
+
+See the `dbw.launch` file in the `dbw_mkz_can/launch` directory that is used to launch the Drive-by-Wire Kit.
+
+Original Dataspeed ADAS Development Vehicle Kit Documentation
+=============================================================
+![rviz screenshot](https://bytebucket.org/DataspeedInc/dbw_mkz_ros/raw/d74e90d89c4e3da56d4c9e008d5feda8cff2447d/img/mkz_rviz.png)
+
+Documentation and firmware updates
+----------------------------------
 The latest release can be found on the [downloads](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/downloads) page
 
-## ROS
-If using ROS, setup your workspace and get started with the joystick demo [here](ROS_SETUP.md).  
-Get started early with recorded data [here](ROS_BAGS.md).  
+ROS
+---
+If using ROS, setup your workspace and get started with the joystick demo [here](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/src/d74e90d89c4e3da56d4c9e008d5feda8cff2447d/ROS_SETUP.md).  
+Get started early with recorded data [here](https://bitbucket.org/DataspeedInc/dbw_mkz_ros/src/d74e90d89c4e3da56d4c9e008d5feda8cff2447d/ROS_BAGS.md).