Merge pull request MIT-SPARK#83 from SPARK/fix-doc-disable-emitter

Fix doc disable emitter

README.md

@@ -60,6 +60,8 @@ mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/
 catkin init
 catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+# On Ubuntu 16.04:
+# catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON
 catkin config --merge-devel
 
 # Add workspace to bashrc for automatic sourcing of workspace.
@@ -99,7 +101,7 @@ Download a [Euroc](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisuali
 
   2. In another terminal, launch KimeraVIO ROS wrapper:
   ```bash
-  roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch
+  roslaunch kimera_vio_ros kimera_ros_euroc.launch
   ```
 
   3. In another terminal, launch rviz for visualization:

docs/hardware_setup.md

@@ -15,7 +15,9 @@ The infrared cameras offer the option to run the [Kimera-VIO](https://github.com
 
 3. Adapt the RealSense ROS wrapper to publish a single interpolated IMU message [(see nodelet xml)](https://github.com/IntelRealSense/realsense-ros/blob/c2448916218ccfe49b0d642563493cb4e9bdcc3b/realsense2_camera/launch/includes/nodelet.launch.xml#L82)
 
-4. Make sure to properly cover the infrared projector on the RealSense (this otherwise affects the quality of the infrared image with dots)
+4. The RealSense has an IR emitter on it to improve its RGBD stream. This creates undesirable dots on the infrared images. To fix this, you can either:
+	1. Disable the emitter after the RealSense node is up using ```rosrun dynamic_reconfigure dynparam set /camera/stereo_module emitter_enabled 0```
+	2. Physically cover the emitter on the RealSense
 
 5. Collect calibration bagfiles for camera intrinsics and extrinsics [(see instructions)](https://www.youtube.com/watch?v=puNXsnrYWTY&app=desktop)