From 752c2b39e5ff478a5af1e727f4c5eeddd8179ddf Mon Sep 17 00:00:00 2001
From: Sandro Covo <sandro@sandrocovo.ch>
Date: Thu, 3 Oct 2024 09:49:02 +0200
Subject: [PATCH] Update ReadMe.md

---
 ReadMe.md | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/ReadMe.md b/ReadMe.md
index 7726c09..f99970d 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -29,6 +29,31 @@ Exemplary use case of MINS:
 MINS is tested on Ubuntu 18 and 20 and only requires corresponding ROS ([Melodic](https://wiki.ros.org/melodic) and [Noetic](https://wiki.ros.org/noetic)).
 * Default Eigen version will be 3.3.7 (Noetic) or lower, but if one has a higher version the compilation can be failed due to thirdparty library (libpointmatcher) for LiDAR.
 
+## ROS2
+
+For instructions and dependencies for building the package on ros2 you can look into the Dockerfile. After building and sourcing, you should be able to start the simulation with 
+
+```sh
+ros2 run mins simulation mins/config/simulation/config.yaml
+```
+
+You can then start rviz2 to look at the path as estimated through MINS.
+
+For running in real mode you can use:
+
+```sh
+ros2 run mins subscribe mins/config/euroc_mav/config.yaml
+```
+
+And then play a bag in another terminal, for example from the [euroc_mav](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets), after converting it using [rosbags](https://pypi.org/project/rosbags/):
+
+```sh
+ros2 bag play data/MH_01_easy
+```
+
+Again, you can look at the paths and the pose estimated by MINS with rviz2.
+
+
 ## Build and Source
 ```
 mkdir -p $MINS_WORKSPACE/catkin_ws/src/ && cd $MINS_WORKSPACE/catkin_ws/src/
@@ -43,6 +68,7 @@ source devel/setup.bash
 
 ![alt text](thirdparty/simulation.png)
 
+
 ### Real-World Dataset
 #### Directly reading the ros bag file
 ```roslaunch mins rosbag.launch config:=kaist/kaist_LC path_gt:=urban30.txt path_bag:=urban30.bag```