Update README.md

Author: Idate96

README.md

@@ -1,141 +1,5 @@
 # ROS2 Elevation Mapping Cupy 
- **Status**: Under Development 🚧
-## Features 
-- **Point cloud-based map update**: *Functional*
-- **Image-based map update**: *Ongoing development*
-- **C++ Node**: *Functional*
-- **Python Node**: *Functional*
-- **Docker & VS Code Devcontainer**: *Provided*
-
-<!-- ![Elevation Map in ROS 2 Humble with Gazebo ](https://github.com/user-attachments/assets/0dd9ebbe-a90d-486f-9871-81921308fab9) -->
-
-## Installation
-A docker file, installation and build scripts, and a VS Code Dev Container have all been provided to ease integration and development.
-This has been tested with Ubuntu 22.04, ROS 2 Humble, Zenoh RMW, CUDA 12.1, and PyTorch 2.6.0.
-Some dependency issues with numpy, transforms3d, scipy, and ros2_numpy arose during setup so if versions of any of these packages are changed you may run into issues.
-The package.xml has been updated to ensure most dependencies are automatically installed via rosdep and some extra rosdep entries are provided to ensure proper versioning.
-This is not possible for some packages, e.g. pytorch, due to need for providing an --extra-index-url during installation.
-Therefore, this requirement is satsified inside of the docker build.
-
-To test out this package with the turtlebot3 Gazebo (classic) simulation you will need to install:
-- VS Code
-- Docker
-- NVIDIA Container Toolkit
-- NVIDIA CUDA Toolkit
-
-### Visual Studio Code
-```bash
-sudo snap install --classic code 
-```
-
-### Docker Installation
-```bash
-# Add Docker's official GPG key
-sudo apt-get update
-sudo apt-get install ca-certificates curl gnupg -y
-sudo install -m 0755 -d /etc/apt/keyrings
-curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
-sudo chmod a+r /etc/apt/keyrings/docker.gpg
-
-# Add Docker repository
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
-sudo apt-get update
-
-# Install Docker
-sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y
-
-```
-
-### NVIDIA Container Toolkit Installation
-```bash
-# Configure the repository
-curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
-curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
-
-# Update and install
-sudo apt-get update
-sudo apt-get install -y nvidia-container-toolkit
-
-# Configure Docker for NVIDIA
-sudo nvidia-ctk runtime configure --runtime=docker
-sudo systemctl restart docker
-
-# Change Docker root folder
-cd
-mkdir docker
-sudo tee /etc/docker/daemon.json > /dev/null <<EOT
-{
-    "data-root": "$HOME/docker",
-    "runtimes": {
-        "nvidia": {
-            "args": [],
-            "path": "nvidia-container-runtime"
-        }
-    }
-}
-EOT
-```
-
-### NVIDIA CUDA-Toolkit install
-Use the following link for install install instructions: 
-https://developer.nvidia.com/cuda-12-1-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_local
-
-### Docker Configuration and Workspace Cloning
-```bash
-sudo usermod -aG docker ${USER}
-# Use gituser.sh for Git credential setup
-```
-### Restart Your Computer
-- After completing the setup and configuration steps, it is necessary to restart your computer to ensure that all changes take effect.
-
----------------------------------------------------------
-
-### Run the Container
-
-#### Clone the Elevation Mapping CUPY Repository
-```bash
-cd /home/<USERNAME>/
-git clone -b ros2_humble https://github.com/jwag/elevation_mapping_cupy.git
-```
-
-#### Building the Docker Workspace Container
-- Open the folder with VS Code
-- Select **"Dev Containers: Reopen in container"** in the bottom left from the blue button which will build the docker image.
-- Setup the workspace
-  ```bash
-  ./docker/setup.sh
-  ```
-- Build the workspace
-  ```bash
-  ./docker/build.sh
-
-#### Run The Turtlebot3 Demo
-The docker should set the environmental variable `TURTLEBOT3_MODEL=waffle_realsense_depth` to select the correct version of the turtlebot to simulate.
-
-In the first terminal start the zenoh router:
-```bash
-ros2 run rmw_zenoh_cpp rmw_zenohd
-```
-
-In a second terminal launch the turtlebot3 in Gazebo with the following command:
-```bash
-ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
-``` 
-
-In a third terminal launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to override the default use of the cpp node if you wish:
-```bash
-ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false
-```
-
-In a fourth terminal run the turtlebot3 teleop node if you want to drive the turtlebot around using the keyboard:
-```bash
-ros2 run turtlebot3_teleop teleop_keyboard 
-```
-
----
-
-# Elevation Mapping cupy (*Instructions Not Updated for ROS2*)
-
+ 
 ![python tests](https://github.com/leggedrobotics/elevation_mapping_cupy/actions/workflows/python-tests.yml/badge.svg)
 
 [Documentation](https://leggedrobotics.github.io/elevation_mapping_cupy/)