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README.md

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# VideoRay ROS Packages
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The ROS repository for VideoRay was originally forked from [HumAnS Lab ROS Repository](https://github.com/gt-ros-pkg/humans). Now it supports Tritech Micron sonar and USBL.
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# Build
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```
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mkdir -p videoray/src
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cd videoray/src
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catkin_init_workspace
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git clone git@bitbucket.org:stevens-rfal/videoray.git
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cd ..
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catkin_make
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source devel/setup.sh
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```
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# Published Topics
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1. `/videoray_control/pose`: `geometry_msgs/PoseStamped`
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2. `/videoray_control/accelerations`: `geometry_msgs/TwistStamped`
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3. `/videoray_control/throttle_cmd`: `videoray_control/Throttle`
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4. `/videoray_sonar/sonarscan`: `sensor_msgs/PointCloud2`
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5. `/videoray_usbl/usbl_pose`: `geometry_msgs/PoseStamped`
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# Subscribed Topics
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1. `/videoray_input/joystick`: `sensor_msgs/Joy`
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2. `/videoray_input/throttle`: `videoray_control/Throttle`
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3. `/videoray_input/desired_trajectory`: `videoray_control/DesiredTrajectory`
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4. `/videoray_sonar/valid` `std_msgs/Bool`

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