Cleanup the README.md

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

image_tools_py/README renamed to image_tools_py/README.md

@@ -1,38 +1,24 @@
+## Image Tools Demo in Python
+
 This is a demonstration of the Quality of Service (QoS) features of ROS 2 using Python.
-There are two programs implemented here: cam2image_py, and showimage_py.  Note that in
-order for these programs to work, an OpenCV binding for Python3 must be available.  As
-of this writing (January 11, 2017), only OpenCV 3 or later supports Python3.  Instructions
-for compiling OpenCV3 for Python3 are available here:
-
-http://stackoverflow.com/questions/20953273/install-opencv-for-python-3-3
-
-The condensed rundown that works on Ubuntu16.04 and will install to /usr/local is:
-$ sudo apt install python3 build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3.5-dev libpython3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
-$ git clone https://github.com/opencv/opencv
-$ cd opencv
-$ git checkout 3.2.0
-$ mkdir release
-$ cd release
-$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
-$ make -j8
-$ sudo make install
-
-CAM2IMAGE_PY
-------------
+There are two programs implemented here: cam2image_py, and showimage_py.
+
+### CAM2IMAGE_PY
 This is a Python program that will take data from an attached camera, and publish the
-data to a topic called "image", with the type sensor_msgs::msg::Image.  If a camera
+data to a topic called "image", with the type sensor_msgs/msg/Image.  If a camera
 isn't available, this program can also generate a default image and smoothly "move"
 it across the screen, simulating motion.  The usage output from the program looks like
 this:
 
-usage: cam2image_py.py [-h] [-b] [-d QUEUE_DEPTH] [-f FREQUENCY] [-k {0,1}]
-                       [-r {0,1}] [-s {0,1}] [-x WIDTH] [-y HEIGHT]
+```
+usage: cam2image_py [-h] [-b] [-d DEPTH] [-f FREQUENCY] [-k {0,1}] [-r {0,1}]
+                    [-s {0,1}] [-t TOPIC] [-x WIDTH] [-y HEIGHT]
 
 optional arguments:
   -h, --help            show this help message and exit
   -b, --burger          Produce images of burgers rather than connecting to a
                         camera (default: False)
-  -d QUEUE_DEPTH, --depth QUEUE_DEPTH
+  -d DEPTH, --depth DEPTH
                         Queue depth (default: 10)
   -f FREQUENCY, --frequency FREQUENCY
                         Publish frequency in Hz (default: 30)
@@ -42,18 +28,22 @@ optional arguments:
   -r {0,1}, --reliability {0,1}
                         Reliability QoS setting, 0 - best effort, 1 - reliable
                         (default: 1)
+  -t TOPIC, --topic TOPIC
+                        Topic to publish on (default: image)
+
   -s {0,1}, --show {0,1}
                         Show the camera stream (default: 0)
   -x WIDTH, --width WIDTH
                         Image width (default: 320)
   -y HEIGHT, --height HEIGHT
                         Image height (default: 240)
+```
 
 The -d, -k, and -r parameters control various aspects of the QoS implementation, and
 are the most interesting to play with when testing out QoS.
 
 Note that this program also subscribes to a topic called "flip_image" of type
-std_msgs::msg::Bool.  If flip_image is set to False, the data coming out of the camera
+std_msgs/msg/Bool.  If flip_image is set to False, the data coming out of the camera
 is sent as usual.  If flip_image is set to True, the data coming out of the camera is
 flipped around the Y axis.
 
@@ -63,13 +53,13 @@ the ROS 2 pub/sub model, so this window cannot show off the QoS parameters (it i
 useful for debugging).  See SHOWIMAGE_PY below for a program that can show QoS over the
 pub/sub model.
 
-SHOWIMAGE_PY
-------------
+### SHOWIMAGE_PY
 This is a Python program that subscribes to the "image" topic, waiting for data.  As
 new data comes in, this program accepts the data and can optionally render it to
 the screen.  The usage output from the program looks like this:
 
-usage: showimage_py.py [-h] [-d QUEUE_DEPTH] [-k {0,1}] [-r {0,1}] [-s {0,1}]
+usage: showimage_py [-h] [-d QUEUE_DEPTH] [-k {0,1}] [-r {0,1}] [-s {0,1}]
+                    [-t TOPIC]
 
 optional arguments:
   -h, --help            show this help message and exit
@@ -82,28 +72,35 @@ optional arguments:
                         Reliability QoS setting, 0 - best effort, 1 - reliable
                         (default: 1)
   -s {0,1}, --show {0,1}
-                        Show the camera stream (default: 0)
+                        Show the camera stream (default: 1)
+  -t TOPIC, --topic TOPIC
+                        use topic TOPIC instead of the default (default: image)
 
 The -d, -k, and -r parameters control various aspects of the QoS implementation, and
 are the most interesting to play with when testing out QoS.
 
 If the -s parameter is set to 1, then this program opens up a window to show the images
 that have been received over the ROS 2 pub/sub model.  This program should be used
-in conjunction with CAM2IMAGE_PY to demonstrate the ROS 2 QoS capabilities over lossy/slow
+in conjunction with cam2image_py to demonstrate the ROS 2 QoS capabilities over lossy/slow
 links.
 
-EXAMPLE USAGE
--------------
+### EXAMPLE USAGE
 To use the above programs, you would run them something like the following:
 
 # In the first terminal, run the data publisher.  This will connect to the 1st camera
 # available, and print out "Publishing image #" for each image it publishes.
-$ python3 cam2image_py.py
-
-# In a second terminal, run the data subscriber.  This will subscribe to the "image"
-# topic and render any frames it receives.
-$ python3 showimage_py.py -s 1
+```
+$ ros2 run image_tools_py cam2image_py
+```
 
 # If you don't have a local camera, you can use the -b parameter to generate data on
 # the fly rather than get data from a camera:
-$ python3 cam2image_py.py -b
+```
+$ ros2 run image_tools_py cam2image_py -b
+```
+
+# In a second terminal, run the data subscriber.  This will subscribe to the "image"
+# topic and render any frames it receives.
+```
+$ ros2 run image_tools_py showimage_py
+```