Update readme

README.md

@@ -11,6 +11,28 @@ The implementation includes a global planner based on a RRT* in the Dubins Airpl
     <img src="https://github.com/ethz-asl/terrain-navigation/assets/5248102/90e43b60-ea8c-49db-9fb3-257b145fc35c" alt="overview">
 </p>
 
+## Paper and Video
+If you find this package useful in an academic context, please consider citing the paper
+
+- J. Lim, F. Achermann, R. Girod, N. Lawrance and R. Siegwart, "Safe Low-Altitude Navigation in Steep Terrain With Fixed-Wing Aerial Vehicles," in IEEE Robotics and Automation Letters, vol. 9, no. 5, pp. 4599-4606, May 2024, doi: 10.1109/LRA.2024.3368800
+. [[paper](https://ieeexplore.ieee.org/abstract/document/10443502)] [[video](https://youtu.be/7C5SsRn_L5Q?si=cMNtX16F1aFNrV8_)]
+
+```
+@article{lim2024safe,
+  title={Safe Low-Altitude Navigation in Steep Terrain With Fixed-Wing Aerial Vehicles},
+  author={Lim, Jaeyoung and Achermann, Florian and Girod, Rik and Lawrance, Nicholas and Siegwart, Roland},
+  journal={IEEE Robotics and Automation Letters},
+  year={2024},
+  volume={9},
+  number={5},
+  pages={4599-4606},
+  doi={10.1109/LRA.2024.3368800}}
+```
+
+<p align="center">
+    <img src="https://github.com/user-attachments/assets/c3723ce4-83a6-44f0-b008-bdba7c189055" alt="fieldtests">
+</p>
+
 ## Setup
 
 ### Setting up the Build Environment using Docker
@@ -75,7 +97,7 @@ First set up the PX4 development environment:
 ```bash
 git clone https://github.com/srmainwaring/PX4-AutoPilot --branch prs/pr-hinwil-testing-rebased --recursive
 cd PX4-AutoPilot
-./Tools/setup/ubuntu.sh
+./Tools/setup/ubuntu.sh --no-nuttx
 ```
 
 Now, configure the shell environment to run `gz_standard_vtol`.

Tools/fix_code_style.sh

@@ -13,9 +13,9 @@ fi
 for arg in "$@"
 do
     if [ -f $arg ]; then
-        clang-format-6.0 -i -style='{BasedOnStyle: google, ColumnLimit: 120}' $arg
+        clang-format -i -style='{BasedOnStyle: google, ColumnLimit: 120}' $arg
     elif [ -d $arg ]; then
-        find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs clang-format-6.0 -i -style='{BasedOnStyle: google, ColumnLimit: 120}'
+        find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs clang-format -i -style='{BasedOnStyle: google, ColumnLimit: 120}'
         find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs chmod 644
     fi
 done

docker/Dockerfile

@@ -1,5 +1,5 @@
 # https://github.com/osrf/docker_images/blob/27cc0b68263bbbb10bb58dd814efc0a6b0a01ec7/ros/humble/ubuntu/jammy/ros-core/Dockerfile
-FROM ros:humble-ros-core-jammy as repo-deps
+FROM ros:humble-ros-core-jammy AS repo-deps
 # This layer installs basic tools and the direct dependencies of terrain-navigation.
 
 SHELL ["/bin/bash", "-c"]
@@ -29,7 +29,7 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/*
 
 
-FROM repo-deps as all-deps
+FROM repo-deps AS all-deps
 # This layer installs dependencies of the other source packages.
 
 COPY terrain-navigation.repos src/ethz-asl/terrain-navigation/terrain-navigation.repos
@@ -44,7 +44,7 @@ RUN apt-get update \
     && rosdep install --from-paths src --ignore-src -r -y \
     && rm -rf /var/lib/apt/lists/*
 
-FROM all-deps as build
+FROM all-deps AS build
 
 WORKDIR /root/ros2_ws/src/ethz-asl/terrain-navigation
 COPY . .

terrain-navigation.repos

@@ -1,8 +1,4 @@
 repositories:
-  ANYbotics/grid_map:
-    type: git
-    url: https://github.com/ANYbotics/grid_map.git
-    version: humble
   ethz-asl/grid_map_geo:
     type: git
     url: https://github.com/ethz-asl/grid_map_geo.git