From dab0744b1d8440987fc8a93c6eebf506221a9c9e Mon Sep 17 00:00:00 2001
From: stevendg <stevendg@uab.edu>
Date: Wed, 10 Aug 2022 20:59:26 -0500
Subject: [PATCH] Updated the instructions

---
 ReadMe.txt | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/ReadMe.txt b/ReadMe.txt
index 6bf095c..d71a2ac 100644
--- a/ReadMe.txt
+++ b/ReadMe.txt
@@ -2,6 +2,17 @@ Run Instructions
 
 version: MATLAB R2022a
 
+How to Run:
 1. Download 'example_synced.bag' from RELLIS-3D Github to your computer.
-2. (line 5) Set the filepath to the location of the saved .bag file.
-3. If you want to change costmap values, see Line 101.
\ No newline at end of file
+2. Open PerceptionNodeV2.mat
+3. (line 5) Set the filepath to the location of the saved .bag file.
+4. Save and run.
+
+Set Parameters (optional)
+1. To change costmap values, see Line 101.
+2. To change sensor positioning (eg. Z-axis, center point, radius, etc.), see Lines 56-57, 68.
+3. There are 2 implementations of the cost map:
+(a) The occupancy grid (contour output)
+(b) The cost map (square block grid output)
+- Default is (a) found in Lines 111-163. Feel free to comment those lines to supress (a)
+- To run (b), uncomment 165-235
\ No newline at end of file
-- 
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