Merge pull request #72 from rosflight/remove-readme-info

Removed readme instructions, referring to website instead

README.md

@@ -2,86 +2,6 @@
 
 [![ROS2 CI](https://github.com/rosflight/rosplane/actions/workflows/ros2-ci.yml/badge.svg)](https://github.com/rosflight/rosplane/actions/workflows/ros2-ci.yml)
 
-ROSplane is a basic fixed-wing autopilot build around ROS2 for use with the ROSflight autopilot. It is a continuation of 
-the original [ROSplane](https://github.com/byu-magicc/rosplane) project. It is built according to the methods published 
-in Small Unmanned Aircraft: Theory and Practice by Dr. Randy Beard and Dr. Tim McLain. 
+ROSplane is a basic fixed-wing autopilot build around ROS2 for use with the ROSflight autopilot. It is a continuation of the original [ROSplane](https://github.com/byu-magicc/rosplane) project. It is built according to the methods published in Small Unmanned Aircraft: Theory and Practice by Dr. Randy Beard and Dr. Tim McLain.
 
-## ROSplane Workspace Setup
-To set up the workspace to run ROSPlane with ROSFlight, do the following:
-1. Follow the instructions for setup up ROSFlight found here:
-   https://github.com/byu-magicc/rosflight2.git
-2. Clone the rosplane Gitlab repo into the same workspace folder as ROSFlight:
-    `git clone https://github.com/rosplane/rosplane.git`
-   1. This will have a file structure like this:
-      ```
-      workspace_dir
-      ├── rosflight2
-      └── rosplane 
-      ```
-
-3. Enter the rosplane folder `cd rosplane`
-4. Build the repository with `colcon build` -- *rosflight2 must be sourced for this to work.* 
-5. Source the `setup.bash` and add it to the `.bashrc` with `echo "source workspace_dir/rosplane/install/setup.bash" >> ~/.bashrc`
-6. Ensure that both the `rosflight2` and the `rosplane` are sourced.
-
-## Running ROSplane SIL
-
-To run ROSplane in simulation do the following:
-1. Launch Gazebo and firmware simulation with `ros2 launch rosflight_sim fixedwing.launch.py`
-
-2. Next, run the rosflight_io node configured for SIL with `ros2 run rosflight_io rosflight_io --ros-args -p udp:=true`
-3. Update the firmware parameters for fixedwing flight with `ros2 service call /param_load_from_file rosflight_msgs/srv/ParamFile "filename: rosflight/rosflight_sim/params/fixedwing_firmware.yaml"` if this is the first time launching.
-4. Write the new parameters to memory for convenience with `ros2 service call /param_write std_srvs/srv/Trigger`
-   - Note: the firmware will time out and not allow takeoff after 100 seconds, so you may need to redo steps one and two.
-5. Calibrate the IMU to allow the airplane to be armed with `ros2 service call /calibrate_imu std_srvs/srv/Trigger`
-6. Then launch ROSplane with `ros2 launch rosplane_sim sim.launch.py`, this will run with the default controller. To use the total energy controller add the argument `control_type:=total_energy`.
-7. Connect a controller with `ros2 run rosflight_utils rc_joy.py --ros-args --remap /RC:=/fixedwing/RC` or if you do not want to use a controller, run `python3 rc_sim.py --ros-args --remap RC:=/fixedwing/RC` while inside `rosflight2/rosflight_utils/src`.
-8. Finally, arm the aircraft with channel 4 and then disable throttle and attitude override with channel 5. If not using a controller use `ros2 service call /toggle_arm std_srvs/srv/Trigger` and then disable RC override with `ros2 service call /toggle_overide std_srvs/srv/Trigger`.
-9. The aircraft should now be airborne!
-
-## Running ROSplane on hardware.
-
-To run ROSplane on hardware:
-1. Launch ROSplane while rosflight_io is running on the flight controller using `ros2 launch rosplane rosplane.launch.py`
-2. Fly the aircraft as you would under regular RC control.
-3. When ready for autonomous flight flip throttle/attitude override switch (default channel 5).
-4. Fly autonomously!
-
-## Flying missions
-
-Autonomous waypoint missions can easily be flown using ROSplane.
-The waypoints of a mission are controlled by the `path_planner` node.
-These waypoints are sent to the `path_manager` node.
-Low level path-following is done by the `path_follower` node.
-See "Small Unmanned Aircraft: Theory and Practice" by Dr. Randy Beard and Dr. Tim McLain for more information on the architecture.
-
-### Adding waypoints
-
-ROSplane initializes with no waypoints added to the `path_planner`.
-We recommend using a mission .yaml file (an example mission can be found in `rosplane/params/fixedwing_mission.yaml`).
-Loading the mission can be done using 
-
-```ros2 service call /load_mission_from_file rosflight_msgs/srv/ParamFile "{filename: FILENAME}"```
-
-where `FILENAME` is the absolute path to the mission .yaml file.
-Note that the origin (0,0,0) is placed at the GNSS location where ROSplane was initialized.
-
-> **Important**: All waypoints must include a valid `[X, Y, Z]`, `va_d`, and `lla` values.
-
-Alternatively, you can add a waypoint one at a time by calling the appropriate service
-
-```ros2 service call /add_waypoint rosplane_msgs/srv/AddWaypoint "{w: [X, Y, Z], chi_d: CHI_D, lla: USE_LLA, use_chi: USE_CHI, va_d: VA_D}"```
-
-where `[X, Y, Z]` is the NED position of the waypoint from the origin (in meters) OR the GNSS location of the waypoint (LLA), `CHI_D` is the desired heading at the waypoint, and `VA_D` is the airspeed at the waypoint.
-Set the `lla` field to `true` if the waypoint `[X, Y, Z]` field is given in GNSS coordinates and `false` if given in NED coordinates.
-Corners in the path are controlled by `USE_CHI`, where a value of `True` will cause ROSplane to use a Dubins path planner and a value of `False` will cause a fillet path planner to be used.
-Adding waypoints can be done at any time, even after loading from a file.
-
-Clearing waypoints can be done using `ros2 service call /clear_waypoints std_msgs/srv/Trigger`.
-
-### Publishing Waypoints
-
-The `path_planner` node automatically publishes a small number of waypoints (default is 3) at the beginning of this mission.
-This number is controlled by the `num_waypoints_to_publish_at_start` ROS2 parameter. 
-
-Additional waypoints can be published using `ros2 service call /publish_next_waypoint std_srvs/srv/Trigger`.
+For more information, see the [ROSplane overview](https://docs.rosflight.org/git-main/user-guide/rosplane-overview/) or the [ROSplane setup guide](https://docs.rosflight.org/git-main/user-guide/rosplane-setup/) on the [ROSflight documentation](https://docs.rosflight.org/git-main/).