Fix path handling and update README

.gitignore

@@ -1,3 +1,6 @@
+# Ignore results directory
+results/*
+
 # Ignore C++ build directory
 build/*
 

README.md

@@ -1,48 +1,69 @@
 # Distributed Certifiably Correct Range-Aided SLAM (DCORA)
 
-## Building
+## Installation
+
+Install the required system dependencies:
 
-Install dependencies
 ```bash
-sudo apt-get install build-essential cmake-gui libsuitesparse-dev libboost-all-dev libeigen3-dev libgoogle-glog-dev
-```
+sudo apt-get update
+sudo apt-get install build-essential cmake-gui libsuitesparse-dev \
+    libboost-all-dev libeigen3-dev libgoogle-glog-dev
+
+Clone the repository and build:
 
-Inside the C++ directory, execute the following commands
 ```bash
-mkdir build
-cd build
-cmake ../
-make
+cd ~ && git clone https://github.com/adthoms/dcora.git
+cd ~/dcora/
+mkdir build && cd build
+cmake ..
+make -j$(nproc)
 ```
 
+The compiled executables will be placed in `build/bin`.
+
 ## Usage
 
-The built executables are located in directory build/bin. For a minimal demo of DC2-PGO on one of the benchmark g2o datasets, inside the build directory run:
+### Multi-Robot Demo (DC2-PGO)
+
+Run distributed certifiably correct pose-graph optimization on a benchmark `.g2o` dataset:
+
 ```bash
+cd build
 ./bin/multi-robot-example 5 ../data/smallGrid3D.g2o
 ```
-For a minimal demo of CORA on one of the benchmark pyfg datasets, inside the build directory run:
+
+Here, 5 specifies the number of robots.
+
+### Single-Robot Demo (CORA)
+
+Run certifiably correct range-aided SLAM on a benchmark `.pyfg` dataset:
+
 ```bash
+cd build
 ./bin/single-robot-example-ra-slam ../data/tiers.pyfg
 ```
 
+## Testing
+
+To run the unit tests:
+
+```bash
+cd build
+./bin/testDCORA
+```
+
+All tests must pass before submitting contributions.
+
 ## Contributing
 
 Any contributions should pass all checks in our `.pre-commit-config.yaml` file. To install the pre-commit hooks, run `pre-commit install` in the root directory of this repository. You may need to install some dependencies to get the pre-commit hooks to work.
 ```bash
 pip install pre-commit
 sudo apt-get install cppcheck
-cd /path/to/dcora
+cd ~/dcora
 pre-commit install
 ```
 
-## Testing
-
-Run the unit tests via
-```bash
-./bin/testDCORA
-```
-
 ## References
 
 If you use this code in your research, please cite the following paper:
@@ -55,3 +76,7 @@ If you use this code in your research, please cite the following paper:
   year={2025}
 }
 ```
+
+## License
+
+This project is licensed under the MIT License

examples/MultiRobotExample.cpp

@@ -121,8 +121,7 @@ int main(int argc, char **argv) {
   bool acceleration = true;
   bool verbose = false;
   unsigned numIters = 1000;
-  std::string logDirectory = "/home/alex/data/dcora_dpgo_examples/"
-                             "dcora_examples/multi_robot_example_pgo/";
+  std::string logDirectory = std::string(getenv("HOME")) + "/dcora/results/multi_robot_example_pgo/";
   std::string debug_filename;
   bool logData = true;
   unsigned int r_min = 5;

examples/MultiRobotExample_RASLAM.cpp

@@ -76,8 +76,7 @@ int main(int argc, char **argv) {
 
   // Logging
   bool logData = true;
-  std::string logDirectory = "/home/alex/data/dcora_dpgo_examples/"
-                             "dcora_examples/multi_robot_example_ra_slam/";
+  std::string logDirectory = std::string(getenv("HOME")) + "/dcora/results/multi_robot_example_ra_slam/";
   DCORA::Logger logger(logDirectory);
   bool rbcd_only = false;
 

examples/SingleRobotExample.cpp

@@ -52,8 +52,7 @@ int main(int argc, char **argv) {
   unsigned int r = d;
   DCORA::AgentParameters options(d, r);
   options.verbose = true;
-  options.logDirectory = "/home/alex/data/dcora_dpgo_examples/"
-                         "dcora_examples/single_robot_example_pgo/";
+  options.logDirectory = std::string(getenv("HOME")) + "/dcora/results/single_robot_example_pgo/";
   options.logData = true;
 
   std::vector<DCORA::RelativePosePoseMeasurement> odometry;

examples/SingleRobotExample_RASLAM.cpp

@@ -65,8 +65,7 @@ int main(int argc, char **argv) {
 
   // Logging
   bool logData = true;
-  std::string logDirectory = "/home/alex/data/dcora_dpgo_examples/"
-                             "dcora_examples/single_robot_example_ra_slam/";
+  std::string logDirectory = std::string(getenv("HOME")) + "/dcora/results/single_robot_example_ra_slam/";
   DCORA::Logger logger(logDirectory);
 
   // Initialization method