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@@ -1,3 +1,64 @@
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-# linerobot
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+# Line Robot
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+
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+## Linerobot digital shadow
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+This repo is the development of a digital shadow in Unity3D. It concerns a Lego line follower, for which the mechanics, a similar control-algirtm for linefollowing, is implemented.
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+This basically is a red-sensor which follows the left-side of a white line.
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+
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+Remarks: The mechanics have been altered to be able to be able for the control-strategy to be succesfull.
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+The location of the sensor has been changed. Physically a sensor between the two driven wheels will not result in a feasbily linefollower.
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+
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+The sensor is achieved with a camera with a limited scope (70x70 pixels) for which all "red" pixels are averaged. Thus an average value will result (0=no red, 1 = full red).
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+Besised the sensor (part of the sensor actually) is a red spotlight.
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+
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+Additonally a normal cameraimage (jpeg-stream) is created and also a depth-image (image-stream).
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+The images are streamed over DDS and can be observed in any application that used DDS.
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+The format in which the images are sent are standardised ROS-messages.
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+
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+ROS2 relies on DDS and the topics are read by
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+
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+## Hardware configuration
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+Windows-10 and VMware Workstation is installed on a laptop.
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+Unity3D runs on Windows-10. A Ubuntu-VM is made with ROS2 on it (but any ROS2 instance in "the" network will suffice).
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+
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+## DDS
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+Communication of DDS is specified in a configuration file. When you run the Unity-application (in the Editor or standalone)
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+this configuration file needs to be called first. This is done in a batch-filw which runs Vortex DDS and than Unity (must be done in the same command window).
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+
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+Vortex DDS needs to be installed. See https://bitbucket.org/edhage/dds-for-unity/src/master/.
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+
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+For the use of DDS in Unity an open source repo is used (see above). Be aware that
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+[here](https://bitbucket.org/edhage/dds-for-unity/src/master/Vortex/) the Vortex installer is placed (so you do not have to copy it from the Adlink-website).
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+
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+
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+## ROS2
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+https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Binary.html
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+I installed ROS2 Galactic, but newer versions are also okay (I wrote a package but typically they can be used for any newer version).
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+ROS2 versions start with a letter in alphabetical order, "G" for Galactic, "F" for Foxy is older. Be aware that you DO NOT INSTALL ROS. Must be ROS2.
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+https://docs.ros.org/en/galactic/index.html
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+
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+Galactic works with Ubuntu Focal (20.04.3 LTS). Recommended is to install this Ubuntu.
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+
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+The package in directory ROS contains python files and C++ files.
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+You need to build the files in the "ROS2"-way (with colcon and lots of assisting files).
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+The python you can run without building, it will not be "known" as part of the package, but it works.
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+
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+In a terminal you can already watch some topics.
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+"ros2 topic list" will list all available topics.
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+If you installed rqt (done by default I think) you can run the GUI (easier).
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+"ros2 run rqt_gui rqt_gui"
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+
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+## CV-bridge
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+if you have installed the CV-bridge you can use CV in ROS2.
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+The file "pcd_publisher_node.py" uses the CV-bridge.
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+It subscribed to the depth_image-topic (coming from Unity) and applies a colormap to it.
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+Than it shows the image with a colormap (depth-2-colormap).
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+
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+Additionally we would be able to re-pulish the topic under another topic-name, and than it could be shown in rqt_gui.
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+
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+##
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+
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+
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+
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+
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+
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-Linerobot digital shadow
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Edward Hage