README with install instructions

README.md

@@ -14,6 +14,7 @@ A framework for testing and benchmarking collision avoidance strategies.
  * socat 1.7+ (for testbed support)
  * GZSitl (for virtual vehicle support)
  * GLM (https://github.com/g-truc/glm.git)
+ * librealsense: Steps to install can be found [here](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
  * Autopilot, either:
    * Ardupilot (https://github.com/ArduPilot/ardupilot) or
    * PX4 (https://github.com/PX4/Firmware)
@@ -43,15 +44,32 @@ Compile code samples    | WITH_SAMPLES    | OFF
 This method is recommended for those who want to use 'coav-control' on an Intel
 Aero Drone.
 
-A Yocto layer containing recipes to build and install coav-control can be found on
-the repository under the folder 'meta-coav'. This layer can be easily added to
-to the image build by following the steps described by Intel Aero documentation
-[here](https://github.com/intel-aero/meta-intel-aero/wiki/Developing-on-Intel-Aero).
+'coav-control' utility tool comes installed on Intel Aero image since version 1.4.
+Its life cycle is controlled by a Systemd service that *won't* be enabled
+by default. To start the tool, issue the following from the drone's shell:
 
-The recipe install the 'coav-control' utility tool as well an init script that runs
-the tool on start-up. You can change it's behavior by editing the script file at
-any point of the process that seems convenient to you (custom branch, custom recipe
-or changing the file on the drone itself).
+ ```
+ systemctl start coav-control.service
+ ```
+
+You can change its behavior to execute your desired combination of Detection and
+Avoidance Strategy by editing the service file and restarting the service:
+
+ ```
+ systemctl restart coav-control.service
+ ```
+
+If you want that to start 'coav-control' automatically on boot, use the following:
+
+ ```
+ systemctl enable coav-control.service
+ ```
+
+We also provide a reference of a Yocto layer with recipes to build and install
+'libcoav' and 'coav-control' on this repository under the folder
+https://github.com/intel-aero/meta-intel-aero/tree/master/recipes-support/collision-avoidance-library 
+This is just a reference and aims to make it easier for others to embed this
+project on a Yocto build if they don't want to use the layer provided by Intel Aero.
 
 ### Method 2 - Compile and Install yourself ###
 
@@ -63,14 +81,12 @@ instructions](#deploying-on-intel-aero) about taking advantage of Yocto's SDK su
 
 If you're using Ubuntu, before continuing please ensure you have the needed dependencies:
  * If you want to use Gazebo, ensure you go through the instructions available [here](http://gazebosim.org/tutorials?tut=install_ubuntu) and ensure you install the libgazebo8-dev package;
- * Install all build dependencies (the last two are needed to build librealsense):
+ * Install all build dependencies :
 
   ```
-  sudo apt-get install git cmake libglm-dev python-future doxygen libusb-1.0-0-dev libglfw3-dev
+  sudo apt-get install git cmake libglm-dev python-future doxygen
   ```
 
- * Go through the steps to install librealsense which can be found [here](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
-
 The project use CMake as build system and does not support in-tree build.
 As such, create a separate folder before building.