Add READMEs.

README.md

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+# neonavigation meta-package
+
+ROS meta-package for autonomous vehicle navigation.
+
+## Packages
+
+### [costmap_cspace](costmap_cspace/README.md)
+
+3-DOF configuration space costmap handler.
+
+### [planner_cspace](planner_cspace/README.md)
+
+2-D/3-DOF seamless global-local path and motion planner and serial joint collision avoidance.
+
+### [safety_limiter](safety_limiter/README.md)
+
+Collision prevention control.
+
+### [trajectory_tracker](trajectory_tracker/README.md)
+
+Path following control and path handling. 
+
+### [map_organizer](map_organizer/README.md)
+
+Layered map handler.
+
+### [track_odometry](track_odometry/README.md)
+
+Slip compensation for vehicle odometry.
+
+### [obj_to_pointcloud](obj_to_pointcloud/README.md)
+
+Obj surface data to pointcloud converter.
+
+### [neonavigation_launch](neonavigation_launch/README.md)
+
+Sample launch files.
+
+## References
+
+A. Watanabe, D. Endo, G. Yamauchi and K. Nagatani, "*Neonavigation meta-package: 2-D/3-DOF seamless global-local planner for ROS — Development and field test on the representative offshore oil plant,*" 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, Switzerland, 2016, pp. 86-91.
+(doi: 10.1109/SSRR.2016.7784282)
+
+## License
+
+*neonavigation meta-package* is available under BSD license.
+

costmap_cspace/README.md

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+----
+# costmap_cspace package
+
+## costmap_3d
+
+costmap_3d node converts 2-D (x, y) OccupancyGrid to 2-D/3-DOF (x, y, yaw) configuration space based on given footprint.
+
+### Sources
+
+* src/costmap_3d.cpp
+
+### Subscribed topics
+
+* /map (nav_msgs::OccupancyGrid)
+* /map_overlay (nav_msgs::OccupancyGrid)
+
+### Published topics
+
+* ~/costmap (costmap_cspace::CSpace3D)
+* ~/costmap_update (costmap_cspace::CSpace3DUpdate)
+* ~/footprint (geometry_msgs::PolygonStamped)
+* ~/debug (sensor_msgs::PointCloud)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+* "ang_resolution" (int, default: 16)
+* "linear_expand" (double, default: 0.2f)
+* "linear_spread" (double, default: 0.5f)
+* "unknown_cost" (int, default: 0)
+* "overlay_mode" (string, default: std::string(""))
+* "footprint" (?, default: footprint_xml)
+
+----
+

map_organizer/README.md

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+----
+# map_organizer package
+
+## pointcloud_to_maps
+
+pointcloud_to_maps node detects floors from given pointcloud and publishes layered OccupancyGrid.
+
+### Sources
+
+* src/pointcloud_to_maps.cpp
+
+### Subscribed topics
+
+* ~/map_cloud (sensor_msgs::PointCloud2)
+
+### Published topics
+
+* /maps (map_organizer::OccupancyGridArray)
+* /map? (nav_msgs::OccupancyGrid)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+
+----
+
+## tie_maps
+
+tie_maps node loads maps from files and ties into layered OccupancyGrid.
+
+### Sources
+
+* src/tie_maps.cpp
+
+### Subscribed topics
+
+
+### Published topics
+
+* /maps (map_organizer::OccupancyGridArray)
+* /map? (nav_msgs::OccupancyGrid)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+* "map_files" (string, default: std::string(""))
+* "frame_id" (string, default: std::string("map"))
+
+----
+
+## save_maps
+
+save_maps saves layered OccupancyGrid to map files.
+
+### Sources
+
+* src/save_maps.cpp
+
+### Subscribed topics
+
+* ~/maps (map_organizer::OccupancyGridArray)
+
+### Published topics
+
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+
+----
+
+## select_map
+
+select_map node publishes the desired layer from layered OccupancyGrid.
+
+### Sources
+
+* src/select_map.cpp
+
+### Subscribed topics
+
+* /maps (map_organizer::OccupancyGridArray)
+* ~/floor (std_msgs::Int32)
+
+### Published topics
+
+* /map (nav_msgs::OccupancyGrid)
+* /tf
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+
+----
+
+## pose_transform
+
+pose_transform transforms given pose into the desired tf-frame.
+This node is useful to convert rviz initialpose output to desired map frame.
+
+### Sources
+
+* src/pose_transform.cpp
+
+### Subscribed topics
+
+* ~/pose_in (geometry_msgs::PoseWithCovarianceStamped)
+* /tf
+
+### Published topics
+
+* ~/pose_out (geometry_msgs::PoseWithCovarianceStamped)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+* "to_frame" (string, default: std::string("map"))
+
+----
+

neonavigation_launch/README.md

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+----
+# neonavigation_launch package
+
+neonavigation_launch package provides sample launch file for testing neonavigation meta-package.
+

obj_to_pointcloud/README.md

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+----
+# obj_to_pointcloud package
+
+## obj_to_pointcloud
+
+obj_to_pointcloud node converts obj file (surface data) to pointcloud.
+This node can be used to load CAD based map for 3-D localization.
+
+### Sources
+
+* src/obj_to_pointcloud.cpp
+
+### Subscribed topics
+
+
+### Published topics
+
+* ~/cloud (sensor_msgs::PointCloud2)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+* "frame_id" (string, default: std::string("map"))
+* "objs" (string, default: std::string(""))
+* "points_per_meter_sq" (double, default: 600.0)
+* "downsample_grid" (double, default: 0.05)
+* "offset_x" (double, default: 0.0)
+* "offset_y" (double, default: 0.0)
+* "offset_z" (double, default: 0.0)
+* "scale" (double, default: 1.0)
+
+----
+

planner_cspace/README.md

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+----
+# planner_cspace package
+
+## planner_3d
+
+planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.
+
+### Sources
+
+* src/planner_3d.cpp
+* src/grid_astar.hpp
+
+### Subscribed topics
+
+* ~/costmap (costmap_cspace::CSpace3D)
+* ~/costmap_update (costmap_cspace::CSpace3DUpdate)
+* ~/goal (geometry_msgs::PoseStamped)
+* /tf
+
+### Published topics
+
+* ~/path (nav_msgs::Path)
+* ~/debug (sensor_msgs::PointCloud)
+* ~/path_start (geometry_msgs::PoseStamped)
+* ~/path_end (geometry_msgs::PoseStamped)
+* ~/status (planner_cspace::PlannerStatus)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+* "goal_tolerance_lin" (double, default: 0.05)
+* "goal_tolerance_ang" (double, default: 0.1)
+* "goal_tolerance_ang_finish" (double, default: 0.05)
+* "unknown_cost" (int, default: 100)
+* "hist_cnt_max" (int, default: 20)
+* "hist_cnt_thres" (int, default: 19)
+* "hist_cost" (int, default: 90)
+* "hist_ignore_range" (double, default: 1.0)
+* "remember_updates" (bool, default: false)
+* "local_range" (double, default: 2.5)
+* "longcut_range" (double, default: 0.0)
+* "esc_range" (double, default: 0.25)
+* "find_best" (bool, default: true)
+* "pos_jump" (double, default: 1.0)
+* "yaw_jump" (double, default: 1.5)
+* "force_goal_orientation" (bool, default: true)
+* "temporary_escape" (bool, default: true)
+* "fast_map_update" (bool, default: false)
+* "debug_mode" (string, default: std::string("cost_estim"))
+* "queue_size_limit" (int, default: 0)
+
+----
+
+## planner_2dof_serial_joints
+
+planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)
+
+### Sources
+
+* src/planner_2dof_serial_joints.cpp
+* src/grid_astar.hpp
+
+### Subscribed topics
+
+* ~/trajectory_in (trajectory_msgs::JointTrajectory)
+* ~/joint (sensor_msgs::JointState)
+* /tf
+
+### Published topics
+
+* ~/trajectory_out (trajectory_msgs::JointTrajectory)
+* ~/status (planner_cspace::PlannerStatus)
+
+### Services
+
+
+### Called services
+
+
+### Parameters
+
+* "resolution" (int, default: 128)
+* "debug_aa" (bool, default: false)
+* "replan_interval" (double, default: 0.2)
+* "queue_size_limit" (int, default: 0)
+* "link0_name" (string, default: std::string("link0"))
+* "link1_name" (string, default: std::string("link1"))
+* "point_vel_mode" (string, default: std::string("prev"))
+* "range" (int, default: 8)
+* "num_groups" (int, default: 1)
+
+----
+