readme mini-update

readme.md

@@ -2,10 +2,14 @@
 Repository for robust, adaptive 3D person tracking and reidentification in busy areas
 
 ## Environment Setup
-**Your environment MUST have MMPOSE properly installed.** Follow the instructions below to set it up
+**Next, your environment MUST have MMPOSE and the tracking_re_id ROS2 package properly installed** Follow the instructions below to set it up
 
 ```bash
-#3.10 is the latest supported by MMPOSE
+# wherever you want your workspace root to be (anywhere upstream of tracking_re_id):
+colcon build --symlink-install
+source install/setup.bash
+
+# 3.10 is the latest supported by MMPOSE
 conda create -n mmpose python=3.10 -y
 conda activate mmpose
 
@@ -26,4 +30,11 @@ pip install "numpy<2"
 pip install "opencv-python==4.11.0.86"
 ```
 
-**This installation is referenced in each launchfile by finding the location of your conda base environment, then finding an environment named "mmpose" - if you use a different name, you must change each launch file.**
+**This installation is referenced in each launchfile by finding the location of your conda base environment, then finding an environment named "mmpose" - if you use a different name, you must change each launch file.**
+
+## Camera Driver / Calibration
+Many nodes in the ```tracking_re_id``` package rely on the ```/stereo/left/camera_info``` and ```/stereo/right/camera_info``` topics publishing calibration data for the camera. This requires calibration to be performed, replacing ```left.yaml``` and ```right.yaml``` in ```tracking_re_id/calibration```.
+
+Visit https://docs.ros.org/en/jazzy/p/camera_calibration/doc/tutorial_stereo.html for instructions on running the calibration. The left and right yaml files always had ```camera_name=narrow_stereo/left``` and ```camera_name=narrow_stereo/right``` which have to be changed to ```stereo/left``` and ```stereo/right```, respectively.
+
+To run the camera driver after calibration has been conducted, simply execute ```ros2 launch tracking_re_id start_cameras_only.launch.py```. Running ```colcon build``` again is **NOT** required, as you should have run it with ```--symlink-install``` previously.