[DOCS] filter_signal README finalized

filter_signal/README.md

@@ -6,11 +6,13 @@ This package contains tools to signal-process any ROS2 message.
 1. [About this repository](#about-this-repository)
 2. [Getting started](#getting-started)  
 3. [Building and Running](#building-and-running)  
+    - [Analyse](#analyse)
+    - [Filter](#filter)
 
 
 ## About this repository
 
-This package contains two ROS2 Nodes `analyse.py` and `filter.py` to analyse and then signal-process any ROS2 message. Currently
+This package contains two executables `analyse.py` and `filter.py` to analyse and then signal-process any ROS2 message. Currently
 any float part of any message can be filtered with
 
 - Highpass
@@ -20,6 +22,63 @@ any float part of any message can be filtered with
 
 based on your configuration. 
 
+## Getting started
+
+The current package looks like
+```bash
+filter_signal
+    ├── CMakeLists.txt
+    ├── config
+    │   ├── analyse.yaml
+    │   └── filter.yaml
+    ├── filter_config
+    │   ├── float32.yaml
+    │   └── imu.yaml
+    ├── filter_signal
+    │   ├── __init__.py
+    │   ├── analyse_parameters.py
+    │   ├── analyse.py
+    │   ├── filter_parameters.py
+    │   ├── filter.py
+    │   ├── filters.py
+    │   └── utilities.py
+    ├── include
+    ├── launch
+    │   ├── analyse.launch.py
+    │   └── filter.launch.py
+    ├── package.xml
+    ├── README.md
+    └── src
+```
+
+Ignore `src` and `include`, they are only part of the used template to add CPP-files in the package later on.
+
+
+## Building and Running
+Note that this package depends on `python3-scipy`, hence please install
+
+```
+sudo apt-get install python3-scipy
+```
+
+or run `rosdep install --from-paths src -y --ignore-src` within your workspace. To build, please navitage into your workspace (adapt the first line in case it is different than `ros_ws`) and run
+
+```bash
+cd ros_ws
+source /opt/ros/humble/setup.bash
+colcon build
+```
+
+If you are using `colcon build --symlink-install` or e.g. using VSCode ROS2 Extention please make sure that all executable python files in
+`ros_ws/src/fft/filter_signal/filter_signal` `filter.py` and `analyse.py` are made executable. Hence run
+
+```bash
+chmod +x filter.py
+chmod +x analyse.py
+```
+
+Remember that only message types can be analysed and filtered that are also sourced. Hence if there is an interface package in your workspace (not installed in /opt/ros), make sure to also source the workspace before running. To run, proceed with [Analyse](#analyse) and [Filter](#filter). Note there exists `analyse.launch.py` and `filter.launch.py` launch files with associated `analyse.yaml` and `filter.yaml` configuration files for orientation.
+
 ### Analyse
 
 Because any message type is supported, to filter a message you first have to analyse it. `analyse.py` will subscribe to a `topic` of your choice of arbitrary message type (as long as the message definition is sourced). It will then write the structure of the message as `result_file_name.yaml` into a specified `config_path`. The parameter:default_value are as following:
@@ -28,7 +87,7 @@ Because any message type is supported, to filter a message you first have to ana
 - `config_path`:`~`
 - `result_file_name`:`analytic_result` 
 
-where `~` is the home-directory of the user executing the code. While the resulting file will be of type `.yaml`, do not include `.yaml` in the parameter, the file ending will be added automatically. E.g. result file for an `sensor_msgs.msg.Imu` looks like this:
+where `~` is the home-directory of the user executing the code. E.g. result file for a `sensor_msgs.msg.Imu` looks like this:
 
 ```bash
 angular_velocity:
@@ -63,6 +122,8 @@ orientation_covariance:
 - 0.0
 ```
 
+While the resulting file will be of type `.yaml`, do not include the file ending `.yaml` in the parameter `result_file_name`. The file ending will be added automatically.
+
 ### Filter
 
 `filter.py` will subscribe to a topic of your choice and filter the topic according to the configuration file. The parameter:default_value are as following:
@@ -71,7 +132,8 @@ orientation_covariance:
 - `config_path`:`~`
 - `config_file_name`:`imu` 
 
-where `~` is the home-directory of the user executing the code. While the configuration file will be of type `.yaml`, do not include `.yaml` in the parameter value, the file ending will be added automatically. Now, given the `analytic_result` from [Analyse](#analyse), we can edit it to become a `config_file` for the filter. For example, take the result file for an `sensor_msgs.msg.Imu`, and assume you want to filter 
+where `~` is the home-directory of the user executing the code. Now, given the `analytic_result` from [Analyse](#analyse), we can edit it to become a `config_file` for the filter. 
+For example, take the result file for an `sensor_msgs.msg.Imu`, and assume you want to filter 
 
 - `angular_velocity.x` with a **lowpass** filter of **4**th order and a cuttoff-frequency of **20.0Hz**
 - `angular_velocity.y` with a **highpass** filter of **2**nd order and a cuttoff-frequency of **1.0Hz**
@@ -113,54 +175,5 @@ orientation_covariance:
 - 0.0
 ```
 
-and load the edited file as the `filter` config file. Once the node is running it will publish into `topic/filtered`.
-
-## Getting started
+and load the edited file as the `filter` config file. While the configuration file will be of type `.yaml`, do not include `.yaml` in the parameter value `config_file_name`, 
+the file ending will be added automatically. Once the node is running it will publish into `topic/filtered`.
\ No newline at end of file
-
-The current package looks like
-```bash
-filter_signal
-    ├── CMakeLists.txt
-    ├── config
-    │   ├── analyse.yaml
-    │   └── filter.yaml
-    ├── filter_config
-    │   ├── float32.yaml
-    │   └── imu.yaml
-    ├── filter_signal
-    │   ├── __init__.py
-    │   ├── analyse_parameters.py
-    │   ├── analyse.py
-    │   ├── filter_parameters.py
-    │   ├── filter.py
-    │   ├── filters.py
-    │   └── utilities.py
-    ├── include
-    │   └── cpp_python_package
-    ├── launch
-    │   ├── analyse.launch.py
-    │   └── filter.launch.py
-    ├── package.xml
-    ├── README.md
-    └── src
-```
-
-
-## Building and Running
-To build, please navitage into your workspace (adapt the first line in case it is different than `ros_ws`) and run
-
-```bash
-cd ros_ws
-source /opt/ros/humble/setup.bash
-colcon build
-```
-
-If you are using `colcon build --symlink-install` or e.g. using VSCode ROS2 Extention please make sure that all executable python files in
-`ros_ws/src/fft/filter_signal/filter_signal` `filter.py` and `analyse.py` are made executable. Hence run
-
-```bash
-chmod +x filter.py
-chmod +x analyse.py
-```
-
-Remember that only message types can be analysed and filtered that are also sourced. Hence if there is an interface package in your workspace (not installed in /opt/ros), make sure to also source the workspace before running. To run, proceed with [Analyse](#analyse) and [Filter](#filter). Note there exists `analyse.launch.py` and `filter.launch.py` launch files with associated `analyse.yaml` and `filter.yaml` configuration files for orientation.
\ No newline at end of file

filter_signal/launch/analyse.launch.py

@@ -10,10 +10,10 @@ from launch.substitutions import LaunchConfiguration
 def generate_launch_description():
 
     # Get the package directories
-    cpp_python_package_share = get_package_share_directory('filter_signal')
+    filter_signal_package_share = get_package_share_directory('filter_signal')
 
     # Parameters
-    parameter_file = os.path.join(cpp_python_package_share, 'config', 'analyse.yaml')
+    parameter_file = os.path.join(filter_signal_package_share, 'config', 'analyse.yaml')
 
     declare_namespace_cmd = DeclareLaunchArgument(
         name='namespace',