move plane segmentation README to top README

Author: rubengrandia

README.md

@@ -26,10 +26,7 @@ plane segmentation is done independently and runs on CPU.
 
 ## Installation
 
-The following installation instructions are for elevation mapping. For the plane segmentation, please find additional instructions in the
-dedicated README.
-
-### CUDA & cuDNN
+#### CUDA & cuDNN
 
 The tested versions are CUDA10.2, 11.6
 
@@ -38,7 +35,7 @@ The tested versions are CUDA10.2, 11.6
 
 Check how to install [here](doc/cuda-installation.md).
 
-### Python dependencies
+#### Python dependencies
 
 You will need
 
@@ -52,7 +49,7 @@ For traversability filter, either of
 - [torch](https://pytorch.org/)
 - [chainer](https://chainer.org/)
 
-Optinally, opencv for inpainting filter.
+Optionally, OpenCV for inpainting filter.
 
 - [opencv-python](https://opencv.org/)
 
@@ -103,7 +100,7 @@ Install by following the official documents.
 Pytorch uses ~2GB more GPU memory than Chainer, but runs a bit faster.  
 Use parameter `use_chainer` to select which backend to use.
 
-### ROS package dependencies
+#### ROS package dependencies
 
 - [pybind11_catkin](https://github.com/ipab-slmc/pybind11_catkin)
 - [grid_map](https://github.com/ANYbotics/grid_map)
@@ -113,7 +110,7 @@ sudo apt install ros-noetic-pybind11-catkin
 sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs
 ```
 
-## On Jetson
+### On Jetson
 
 #### CUDA CuDNN
 
@@ -159,12 +156,57 @@ If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package
 git clone [email protected]:ros/filters.git -b noetic-devel
 ```
 
+### Plane segmentation dependencies
+
+#### OpenCV
+
+```bash
+sudo apt install libopencv-dev
+```
+
+#### Eigen
+
+```bash
+sudo apt install libeigen3-dev
+```
+
+#### CGAL
+
+CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you
+have the third-party libaries installed on you machine:
+
+```bash
+sudo apt install libgmp-dev
+sudo apt install libmpfr-dev
+sudo apt install libboost-all-dev
+```
+
+#### PCL (for ANYmal research users)
+
+PCL is required, but the ANYbotics distributed version does not contain visualization components. With pcl_visualization_catkin, the missing
+components are provided into your catkin workspace (for pcl 1.10). Additionally vtk7 is required, DO NOT install this on the ANYmal onboard
+PCs, only on OPC and simulation PCs.
+
+```bash
+sudo apt install libvtk7-dev
+catkin build pcl_visualization_catkin
+```
+
+#### JSK-visualization
+
+For rviz-visualization the jsk-library is used.
+
+```bash
+sudo apt-get install ros-noetic-jsk-visualization
+```
+
 ## Usage
 
 ### Build
 
 ```bash
 catkin build elevation_mapping_cupy
+catkin build convex_plane_decomposition_ros
 ```
 
 #### Errors
@@ -191,6 +233,12 @@ Basic usage.
 roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch
 ```
 
+For the plane segmentation node
+
+```bash
+roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch
+```
+
 ### Run TurtleBot example
 
 First, install turtlebot simulation.
@@ -226,26 +274,29 @@ Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`
 
 ### Subscribed Topics
 
-* topics specified in **`pointcloud_topics`** in **`parameters.yaml`** ([sensor_msgs/PointCloud2])
+* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2])
 
   The distance measurements.
 
 * **`/tf`** ([tf/tfMessage])
 
   The transformation tree.
 
+* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in
+  **`convex_plane_decomposition_ros/config/parameters.yaml`**
+
 ### Published Topics
 
-The topics are published as set in the rosparam.  
+For elevation_mapping_cupy, topics are published as set in the rosparam.  
 You can specify which layers to publish in which fps.
 
 Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`.
 
 ```yaml
 publishers:
   your_topic_name:
-    layers: ['list_of_layer_names', 'layer1', 'layer2']             # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers
-    basic_layers: ['list of basic layers', 'layer1']                # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
+    layers: [ 'list_of_layer_names', 'layer1', 'layer2' ]             # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers
+    basic_layers: [ 'list of basic layers', 'layer1' ]                # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
     fps: 5.0                                                        # Publish rate. Use smaller value than `map_acquire_fps`.
 ```
 
@@ -255,7 +306,6 @@ Example setting in `config/parameters.yaml`.
 
   The entire elevation map.
 
-
 * **`elevation_map_recordable`** ([grid_map_msg/GridMap])
 
   The entire elevation map with slower update rate for visualization and logging.
@@ -264,6 +314,26 @@ Example setting in `config/parameters.yaml`.
 
   The filtered maps using plugins.
 
+The plane segmentation node publishes the following:
+
+* **`planar_terrain`**  ([convex_plane_decomposition_msgs/PlanarTerrain])
+
+  A custom message that contains the full segmentation as a map together with the boundary information.
+
+* **`filtered_map`**  ([grid_map_msg/GridMap])
+
+  A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**.
+
+* **`boundaries`**  ([jsk_recognition_msgs/PolygonArray])
+
+  A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate
+  polygons with the same label.
+
+* **`insets`**  ([jsk_recognition_msgs/PolygonArray])
+
+  A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward
+  shift can cause a single region to break down into multiple when narrow passages exist.
+
 # Plugins
 
 You can create your own plugin to process the elevation map and publish as a layer in GridMap message.
@@ -303,11 +373,11 @@ example:                                      # Use the same name as your file n
     add_value: 2.0                            # Example param
 ```
 
-Finally, add your layer name to publishers in `config/parameters.yaml`.
-You can create a new topic or add to existing topics.
+Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics.
+
 ```yaml
-  plugin_example:   # Topic name
-    layers: ['elevation', 'example_layer']
-    basic_layers: ['example_layer']
+  plugin_example: # Topic name
+    layers: [ 'elevation', 'example_layer' ]
+    basic_layers: [ 'example_layer' ]
     fps: 1.0        # The plugin is called with this fps.
 ```

plane_segmentation/README.md

@@ -5,53 +5,6 @@ This is a C++ ROS package for extracting convex polygons from elevation maps.
 In a first step, the terrain is segmented into planes, and their non-convex contour is extracted.
 In a second step, a local convex approximation can be obtained.
 
-## Installation
-
-### Dependencies
-
-#### OpenCV
-Make sure you have openCV installed.  
-You can execute the following command to install it.
-```bash
-sudo apt-get install libopencv-dev
-```
-
-#### Eigen
-```bash
-sudo apt install libeigen3-dev
-```
-
-#### CGAL
-CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package.
-Make sure you have the third-party libaries installed on you machine:
-```bash
-sudo apt-get install libgmp-dev
-sudo apt-get install libmpfr-dev
-sudo apt-get install libboost-all-dev
-```
-
-#### PCL
-PCL is required, but the ANYbotics distributed version does not contain visualization components. 
-With pcl_visualization_catkin, the missing components are provided into your catkin workspace (for pcl 1.10). 
-Additionally vtk7 is required, DO NOT install this on the ANYmal onboard PCs, only on OPC and simulation PCs.
-```bash
-sudo apt-get install libvtk7-dev
-```
-
-### ROS package dependencies
-
-#### JSK-visualization
-For rviz-visualization the jsk-library is used.
-```bash
-sudo apt-get install ros-noetic-jsk-visualization
-```
-
-#### Grid Map
-Grid map is available through ANYmal-research, apt install, or you can add it to your workspace. You can clone it using:
-```bash
-git clone https://github.com/ANYbotics/grid_map.git
-```
-
 ## Usage
 ### Build
 ```bash