Moves installation instructions for old machines into separate md

INSTALLATION_DEPRECATED.md

@@ -0,0 +1,29 @@
+# Install and run natively
+
+This package was tested and works under Ubuntu 16.04 and ROS kinetic. You will need `CGAL 4.7`, `fftw3`, and `boost/random` as dependencies.
+
+## Install
+
+```sh
+cd ~/catkin_ws/src
+git clone [email protected]:li9i/fsm-lo.git
+cd fsm-lo; mv fsm_lo/* $PWD; rmdir fsm_lo; cd ../..
+catkin build fsm_lo
+```
+
+## Run
+
+### Launch
+
+
+```sh
+roslaunch fsm_lo avanti.launch
+```
+
+### Call
+
+Launching `fsm-lo` simply makes it go into stand-by mode and does not actually execute anything. To do so simply call the provided service
+
+```sh
+docker exec -it fsm_lo_container sh -c "source ~/catkin_ws/devel/setup.bash; rosservice call /fsm_lo/start"
+```

README.md

@@ -4,7 +4,7 @@
 [![youtube.com](https://img.shields.io/badge/1'_presentation-YouTube-FF0000)](https://www.youtube.com/watch?v=hB4qsHCEXGI)
 [![github.com](https://img.shields.io/badge/pdf_presentation-333333)](https://github.com/phd-li9i/fsm_presentation_iros22/blob/master/main.pdf)
 
-`fsm_lo` provides LIDAR odometry from measurements of a single panoramic 2D LIDAR sensor, a.k.a. a sensor whose field of view is 360 degrees. `fsm_lo` is the ROS wrapper of [`fsm`](https://github.com/li9i/fsm).
+`fsm_lo` is a ROS package written in C++ that provides LIDAR odometry from measurements of a single panoramic 2D LIDAR sensor, a.k.a. a sensor whose field of view is 360 degrees. `fsm_lo` is the ROS wrapper of [`fsm`](https://github.com/li9i/fsm).
 
 <p align="center">
   <img src="https://i.imgur.com/hUsBImy.png">
@@ -21,30 +21,37 @@ These two pillars support the robustness of FSM's pose error to sensor noise and
 
 Table of Contents
 =================
+* [Pre-installation](#pre-installation)
 * [Installation](#installation)
-  * [Via Docker](#via-docker)
-  * [Via traditional means](#via-traditional-means)
 * [Run](#run)
   * [Launch](#launch)
   * [Call](#call)
+
 * [Nodes](#nodes)
   * [`fsm_lo_node`](#fsm_lo_node)
     * [Subscribed topics](#subscribed-topics)
     * [Published topics](#published-topics)
     * [Services offered](#services-offered)
     * [Parameters](#parameters)
     * [Transforms published](#transforms-published)
+
 * [Motivation and Under the hood](#motivation-and-under-the-hood)
   * [1 min summary video](#1-min-summary-video)
+
   * [IROS 2022 paper](#iros-2022-paper)
 
 
 
-## Installation
+## Pre-installation
+
+`fsm-lo` is installed, launched, and called via Docker:
 
-### Via Docker
+- if this is your first time running docker then I happen to find [this](https://youtu.be/SAMPOK_lazw?t=67) docker installation guide very friendly and easy to follow
+- if instead you wish to install and run the package natively in Ubuntu 16.04, see the [INSTALLATION_DEPRECATED.md](https://github.com/li9i/fsm-lo/blob/master/INSTALLATION_DEPRECATED.md) guide.
 
-If this is your first time running docker then I happen to find [this](https://youtu.be/SAMPOK_lazw?t=67) docker installation guide very friendly and easy to follow. Then build the image with the most recent code of this repository using `compose` with
+## Installation
+
+Build the image with the most recent code of this repository using `compose` with
 
 ```sh
 git clone [email protected]:li9i/fsm_lo.git
@@ -65,51 +72,25 @@ docker run -it \
     li9i/fsm_lo:latest
 ```
 
-### Via traditional means
-
-Tested in Ubuntu 16.04 and ROS kinetic
-
-#### Dependencies: `CGAL 4.7` `FFTW3` `boost/random`
-
-```sh
-cd ~/catkin_ws/src
-git clone [email protected]:li9i/fsm_lo.git
-cd fsm_lo; mv fsm/* $PWD; rmdir fsm; cd ../..
-catkin build fsm_lo
-```
+####
 
 ## Run
 
 ### Launch
 
-#### Via Docker
-
 ```sh
 docker compose up
 ```
 
-#### Via traditional means
-
-
-```sh
-roslaunch fsm_lo avanti.launch
-```
-
 ### Call
 
 Launching `fsm` simply makes it go into stand-by mode and does not actually execute anything. To do so simply call the provided service
 
-#### Via Docker
-
 ```sh
 docker exec -it fsm_lo_container sh -c "source ~/catkin_ws/devel/setup.bash; rosservice call /fsm_lo/start"
 ```
 
-#### Via traditional means
 
-```sh
-rosservice call /fsm_lo/start
-```
 
 
 ## Nodes