From 1054f54aed07ef1846c763b787007d215e3d15f4 Mon Sep 17 00:00:00 2001
From: K0-p <gabrielalexandarmoore@gmail.com>
Date: Thu, 29 Aug 2024 17:45:25 -0500
Subject: [PATCH] updated README.md

---
 README.md                  | 23 ++++++++++++++++++-----
 UI/foxglove/UI_launcher.py |  5 ++++-
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 89f53487..14e7ac77 100644
--- a/README.md
+++ b/README.md
@@ -7,18 +7,23 @@ rpc is a software framework designed for generating task trajectories (planning)
 Software Framework is developed by Seung Hyeon Bang based on the [PnC](https://github.com/junhyeokahn/PnC) Repository.<br/>
 
 ## Dependencies
-The controller has been tested on Ubuntu 18.04, Ubuntu 20.04, and Mac OSX Ventura. It builds on the shoulders of the following software:<br/>
+The controller has been tested on Ubuntu 18.04, Ubuntu 20.04, Ubuntu 23.04, and Mac OSX Ventura. It builds on the shoulders of the following software:<br/>
 - [anaconda](https://docs.anaconda.com/anaconda/install/): For Pybullet simulator<br/>
 - python dependencies:
 ```
 $ conda env create -f rpc.yml
 ```
+- [conan](https://github.com/conan-io/conan): package manager for C/C++
+```
+$ pip install conan
+```
 - [pinocchio](https://github.com/shbang91/pinocchio): rigid body dynamics
 
 ###### optional dependencies
 - [MatLogger2](https://github.com/shbang91/MatLogger2): logging numeric data (cpp to MAT-files)
 - [zmq](https://github.com/shbang91/rpc/blob/main/dependency/scripts/install_zmq.sh): logging numeric data
 - [protobuf](https://github.com/shbang91/rpc/blob/main/dependency/scripts/install_protobuf.sh): logging numeric data
+- [Foxglove](https://github.com/foxglove): websocket & schema protocols for robot visualization and parameter operations
 
 ## Usage
 - Source conda environment:<br/>
@@ -27,7 +32,7 @@ $ conda activate rpc
 ```
 - Compile:<br/>
 ```
-$ mkdir build
+$ conan install conanfile.txt --build=missing
 $ cd build
 $ cmake ..
 $ make -j4
@@ -36,12 +41,20 @@ $ make -j4
 ```
 python simulator/pybullet/draco_main.py
 ```
-###### optional
-- visualization:<br/>
+###### Foxglove (optional)
+- Project should be built with the following flags:
+```
+BUILD_WITH_FOXGLOVE       ON
+BUILD_WITH_ZMQ_PROTOBUF   ON
+```
+- Run Foxglove:<br/>
 ```
 $ conda env create -f visualize.yml
 $ conda activate visualize
-$ python plot/draco/draco_data_manager.py --b_visualize=true
+$ python UI/foxglove/UI_launcher.py --visualizer=foxglove
 ```
+- Access Foxglove server via either:<br/>
+  1) [Foxglove webservice](https://app.foxglove.dev/)
+  2) [Foxglove application](https://foxglove.dev/download)
 ###### Hardware Usage
 - Please refer to this [repository](https://github.com/shbang91/draco3_nodelet) using rpc library
diff --git a/UI/foxglove/UI_launcher.py b/UI/foxglove/UI_launcher.py
index 85ffb77c..4a66ad42 100644
--- a/UI/foxglove/UI_launcher.py
+++ b/UI/foxglove/UI_launcher.py
@@ -211,7 +211,10 @@ async def main():
             color[lf] = [.1, .5, 1, 1]
             proj_foot_pos[rf], proj_foot_pos[lf] = [0, 0, 0], [0, 0.184, 0]
             proj_foot_ori[rf], proj_foot_ori[lf] = [0, 0, 0, 0], [0, 0, 0, 0]
-            name = "projected_footsteps_" + str(i)
+            if i < 10:
+                name = "projected_footsteps_0" + str(i)
+            else: name = "projected_footsteps_" + str(i)
+            # Add a channel for projected footstep data
             foot_scene = await SceneChannel(
                 True, name, "json", name,
                 ["rf_pos_x","rf_pos_y","rf_pos_z","rf_ori_x","rf_ori_y","rf_ori_z","rf_ori_q",