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zivid_description/README.md

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+# Zivid Description
+
+## Usage
+The URDF or the underlying macro can be included in your own project.
+
+To view the Zivid One Plus:
+```bash
+roslaunch zivid_description view_zivid_one_plus_camera.launch type:='ZIVID_ONE_M'
+```
+
+The available types are: `ZIVID_ONE_S`, `ZIVID_ONE_M` (default), `ZIVID_ONE_L`
+
+If an incorrect type is specified, the xacro will fail with the following error:
+```bash
+name 'optical_frame_angle' is not defined 
+when evaluating expression '0.5*pi + optical_frame_angle/180*pi' 
+```
+
+To view the Zivid Two (Plus):
+```
+roslaunch zivid_description view_zivid_two_camera.launch type:='ZIVID_TWO_M70'
+```
+
+The available types are: `ZIVID_TWO_M70` (default), `ZIVID_TWO_M100`, `ZIVID_TWO_PLUS_L110`, `ZIVID_TWO_PLUS_M60`, `ZIVID_TWO_PLUS_M130`
+
+Note: Currently the types do not actually influence the URDF in any way for the Zivid Two or Zivid Two Plus types.
+
+## Launch files
+- `load_zivid_one_plus_camera.launch`: Loads the Zivid One Plus camera    
+  Arguments:  
+  - `type` (string, options: `ZIVID_ONE_S`, `ZIVID_ONE_M`, `ZIVID_ONE_L`, default: `ZIVID_ONE_M`)
+- `view_zivid_one_plus_camera.launch`: Visualizes the Zivid One Plus camera in RViz  
+  Arguments:  
+  - `type` (string, options: `ZIVID_ONE_S`, `ZIVID_ONE_M`, `ZIVID_ONE_L`, default: `ZIVID_ONE_M`)
+- `load_zivid_two_camera.launch`: Loads the Zivid Two or Zivid Two Plus camera   
+  Arguments:  
+  - `type` (string, options: `ZIVID_TWO_M70`, `ZIVID_TWO_M100`, `ZIVID_TWO_PLUS_L110`, `ZIVID_TWO_PLUS_M60`, `ZIVID_TWO_PLUS_M130`, default: `ZIVID_TWO_M70`)
+- `load_zivid_two_camera.launch`: Visualizes the Zivid Two or Zivid Two Plus camera in RViz  
+  Arguments:  
+  - `type` (string, options: `ZIVID_TWO_M70`, `ZIVID_TWO_M100`, `ZIVID_TWO_PLUS_L110`, `ZIVID_TWO_PLUS_M60`, `ZIVID_TWO_PLUS_M130`, default: `ZIVID_TWO_M70`)