add more instructions on closed loop eval

README.md

@@ -63,13 +63,23 @@ We recommend converting the ORB vocabulary to binary format, by calling
 
     ./tools/bin_vocabulary
 
+### Open-loop Evaluation
+
 To run GF-ORB-SLAM2 on public benchmarks, please refer to batch evaluation scripts at folder 
 
     batch_script
 
-or follow the example calls at **rosrun_cmd.md** for your own sensor / sequence. 
+or follow the example calls at **rosrun_cmd.md** for your own sensor / sequence.
+
+Similar to original ORB-SLAM2, the camera parameters shall be provided in yaml format.  Some example configurations for public benchmarks are available at `ORB_Data` we just cloned.
+
+### Closed-loop Evaluation
+
+To run GF-ORB-SLAM2 on closed-loop navigation tasks, e.g., as the state estimator of [gazebo_turtlebot_simulator](https://github.com/ivalab/gazebo_turtlebot_simulator), make sure the closed-loop macro `ENABLE_PLANNER_PREDICTION` at [include/Tracking.h](https://github.com/ivalab/gf_orb_slam2/tree/catkin/include/Tracking.h#L92) is uncommented:
+
+    #define ENABLE_PLANNER_PREDICTION
 
-Similar to original ORB-SLAM2, the camera parameters shall be provided in yaml format.  Some example configurations for public benchmarks are available at ORB_Data we just cloned.
+and refer to closed-loop evaluation scripts at [gazebo_turtlebot_simulator/script](https://github.com/ivalab/gazebo_turtlebot_simulator/tree/master/script) on how to config the evaluation.
 
 ## References
 

include/Tracking.h

@@ -89,7 +89,7 @@ using namespace Eigen;
 // https://github.gatech.edu/ivabots/trajectory_state_predictor
 // Otherwise, you might write your own predictor by grabbing output from the controller
 //
-// #define ENABLE_PLANNER_PREDICTION
+#define ENABLE_PLANNER_PREDICTION
 
 #ifdef ENABLE_PLANNER_PREDICTION
   #include <trajectory_state_predictor/trajectory_state_predictor.h>