Merge pull request #1823 from JuliaRobotics/24Q1/enh/readmelinks

fix stale readme links and cleanup

Author: dehann

README.md

@@ -7,88 +7,92 @@
 | [![iif-ci-stb][iif-ci-stb-img]][iif-ci-stb-url] <br> [![version][iif-ver-img]][iif-rel-url] | [![iif-ci-dev-img]][iif-ci-dev-url] <br> [![iif-commits-url]][contributors-url] <br> [![issues-time]][issues-url] | [![doi-img]][doi-url] <br> [![iif-cov-img]][iif-cov-url] <br> [![issues-open]][issues-url] | [![cjl-slack-badge]][cjl-slack] <br> [![caesar-docs]][cjl-docs-url] <br> [![dfg-docs]][dfg-docs-url] |
 
 
-[iif-deps-img]: https://juliahub.com/docs/IncrementalInference/deps.svg
-[iif-deps-jlh]: https://juliahub.com/ui/Packages/IncrementalInference/NrVw2??page=2
-[doi-img]: https://zenodo.org/badge/DOI/10.5281/zenodo.5146221.svg
-[doi-url]: https://doi.org/10.5281/zenodo.5146221
+Optimization routines for incremental non-parametric and parametric solutions based on factor graphs and the Bayes (Junction) tree implemented in the [Julia language][jlorg-url].
 
-<!-- replicated in Caesar.jl README -->
-[iif-ci-dev-img]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml/badge.svg
-[iif-ci-dev-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml
-[iif-ci-stb-img]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.26
-[iif-ci-stb-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml
-[iif-ver-img]: https://juliahub.com/docs/IncrementalInference/version.svg
-[iif-rel-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/releases
-[iif-milestones]: https://github.com/JuliaRobotics/IncrementalInference.jl/milestones
-[iif-cov-img]: https://codecov.io/github/JuliaRobotics/IncrementalInference.jl/coverage.svg?branch=master
-[iif-cov-url]: https://codecov.io/github/JuliaRobotics/IncrementalInference.jl?branch=master
-
-[iif-commits-url]: https://img.shields.io/github/commit-activity/y/JuliaRobotics/IncrementalInference.jl.svg?color=dark-green
-[contributors-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/graphs/contributors
-[issues-time]: https://isitmaintained.com/badge/resolution/JuliaRobotics/IncrementalInference.jl.svg
-[issues-open]: https://isitmaintained.com/badge/open/JuliaRobotics/IncrementalInference.jl.svg
-[issues-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/issues
-
-[caesar-docs]: https://img.shields.io/badge/CaesarDocs-latest-blue.svg
-[cjl-docs-url]: http://juliarobotics.github.io/Caesar.jl/latest/
-[dfg-docs]: https://img.shields.io/badge/DFGDocs-latest-blue.svg
-[dfg-docs-url]: https://juliarobotics.org/DistributedFactorGraphs.jl/latest/
-
-[cjl-slack-badge]: https://img.shields.io/badge/Caesarjl-Slack-green.svg?style=popout
-[cjl-slack]: https://join.slack.com/t/caesarjl/shared_invite/zt-ucs06bwg-y2tEbddwX1vR18MASnOLsw
-
-Optimization routines for incremental non-parametric and parametric solutions based on factor graphs and the Bayes (Junction) tree implemented in the [Julia language](http://www.julialang.org/) (and [JuliaPro](http://www.juliacomputing.com)).
-
-
-Introduction
-============
+# Introduction
 
 This package implements a few different non-Gaussian factor graph inference algorithms, primarily 
-- Multi-Modal iSAM (MM-iSAM) ([see references](http://www.juliarobotics.org/Caesar.jl/latest/refs/literature/)) which does hybrid non-parametric and parametric inference/state-estimation over large factor graphs.  
+- Multi-Modal iSAM (MM-iSAM) ([see references][cjl-docs-refs]) which does hybrid non-parametric and parametric inference/state-estimation over large factor graphs.  
 - Batch Parametric (akin to conventional "non-linear least squares"),
 - Max-mixtures parametric,
 - Other multiparametric and non-Gaussian algorithms are in the works and will be announced in due course.
 
 Fundamentally, inference is performed via the Bayes (junction) tree where Chapman-Kolmogorov transit integral solutions are based on marginal-joint belief estimation (a sum-product / belief-propagation approximation algorithm).  Many benefits such as clique recycling are also available.  See the common Caesar.jl documenation for more details.  [![caesar-docs]][cjl-docs-url]
 
-This package forms a cardinal piece of the [Caesar.jl](https://github.com/JuliaRobotics/Caesar.jl) robotics toolkit, including 3D visualization and database interaction, which can serve as a base station for a robotic platform. A standalone Robot Motion Estimate ([RoME.jl](https://github.com/JuliaRobotics/RoME.jl)) package extends the available variables, factors, and utilities for use in robotic navigation.  [![iif-deps-img]][iif-deps-jlh]  
+This package forms a cardinal piece of the [Caesar.jl][cjl-url] robotics toolkit, including 3D visualization and database interaction, which can serve as a base station for a robotic platform. A standalone Robot Motion Estimate ([RoME.jl][rjl-url]) package extends the available variables, factors, and utilities for use in robotic navigation.  [![iif-deps-img]][iif-deps-jlh]  
 
 Note, that IncrementalInference.jl **does not** have to be used with RoME.jl / Caesar.jl -- IncrementalInference.jl only implements the algebraic inference operations against mathematical abstractions such as Manifolds.jl. 
 
-Furthermore, please contact info@navability.io for more formal support on this package, [NavAbility.io](https://www.navability.io). 
+Furthermore, please contact info@wherewhen.ai for more formal support on this package, [NavAbility(TM) by WhereWhen.ai Technologies Inc.][wwai-url]. 
 
-Installation
-------------
+# Examples
+
+See the common Caesar.jl documenation for more details [![caesar-docs]][cjl-docs-url].  Further examples can be found in the examples and test folders.
+
+## Installation
 
 Install the package from inside Julia
 ```julia
-(v1.6) pkg> add IncrementalInference
+pkg> add IncrementalInference
 ```
 
+# Cite and Contributors
+
+We are grateful for many, many contributions within the Julia package ecosystem -- see the [`Project.toml`](https://github.com/JuliaRobotics/Caesar.jl/blob/master/Project.toml) files for a far reaching list of upstream packages and contributions.
+
+Consider citing our work using the common reference at [Caesar.jl Citation with IncrementalInference.jl DOI](https://github.com/JuliaRobotics/Caesar.jl#contributors)
+
+## Get Involved, and Code of Conduct
+
+This project adheres to the [JuliaRobotics code of conduct](https://github.com/JuliaRobotics/administration/blob/master/code_of_conduct.md), and we invite contributions or comments from the community.  Use the slack channel, Julia Discourse, or Github issues to get in touch.
+
+# References
+
+See [references of interest here][cjl-docs-refs]
+
+## Legacy
+
 Pre-install the following packages system wide packages[, and easily draw factor graph and Bayes tree]:
 ```bash
 sudo apt-get install hdf5-tools
 sudo apt-get install graphviz xdot # optional
 ```
 
-Examples
-========
 
-See the common Caesar.jl documenation for more details [![caesar-docs]][cjl-docs-url].  Further examples can be found in the examples and test folders.
+[iif-deps-img]: https://juliahub.com/docs/IncrementalInference/deps.svg
+[iif-deps-jlh]: https://juliahub.com/ui/Packages/IncrementalInference/NrVw2??page=2
+[doi-img]: https://zenodo.org/badge/DOI/10.5281/zenodo.5146221.svg
+[doi-url]: https://doi.org/10.5281/zenodo.5146221
 
-Cite and Contributors
-=====================
+[dfg-docs]: https://img.shields.io/badge/DFGDocs-latest-blue.svg
+[dfg-docs-url]: https://juliarobotics.org/DistributedFactorGraphs.jl/latest/
 
-We are grateful for many, many contributions within the Julia package ecosystem -- see the [`Project.toml`](https://github.com/JuliaRobotics/Caesar.jl/blob/master/Project.toml) files for a far reaching list of upstream packages and contributions.
+<!-- replicated in Caesar.jl README -->
+[iif-ci-dev-img]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml/badge.svg
+[iif-ci-dev-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml
+[iif-ci-stb-img]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.26
+[iif-ci-stb-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/actions/workflows/ci.yml
+[iif-ver-img]: https://juliahub.com/docs/IncrementalInference/version.svg
+[iif-rel-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/releases
+[iif-milestones]: https://github.com/JuliaRobotics/IncrementalInference.jl/milestones
+[iif-cov-img]: https://codecov.io/github/JuliaRobotics/IncrementalInference.jl/coverage.svg?branch=master
+[iif-cov-url]: https://codecov.io/github/JuliaRobotics/IncrementalInference.jl?branch=master
 
-Consider citing our work using the common reference at [Caesar.jl Citation with IncrementalInference.jl DOI](https://github.com/JuliaRobotics/Caesar.jl#contributors)
+[iif-commits-url]: https://img.shields.io/github/commit-activity/y/JuliaRobotics/IncrementalInference.jl.svg?color=dark-green
+[contributors-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/graphs/contributors
+[issues-time]: https://isitmaintained.com/badge/resolution/JuliaRobotics/IncrementalInference.jl.svg
+[issues-open]: https://isitmaintained.com/badge/open/JuliaRobotics/IncrementalInference.jl.svg
+[issues-url]: https://github.com/JuliaRobotics/IncrementalInference.jl/issues
 
-Get Involved, and Code of Conduct
----------------------------------
+[rjl-url]: https://github.com/JuliaRobotics/RoME.jl
 
-This project adheres to the [JuliaRobotics code of conduct](https://github.com/JuliaRobotics/administration/blob/master/code_of_conduct.md), and we invite contributions or comments from the community.  Use the slack channel, Julia Discourse, or Github issues to get in touch.
+[cjl-url]: https://github.com/JuliaRobotics/Caesar.jl
+[caesar-docs]: https://img.shields.io/badge/CaesarDocs-latest-blue.svg
+[cjl-docs-url]: http://juliarobotics.github.io/Caesar.jl/latest/
+[cjl-docs-refs]: http://www.juliarobotics.org/Caesar.jl/latest/refs/literature/
 
-References
-==========
+[cjl-slack-badge]: https://img.shields.io/badge/Caesarjl-Slack-green.svg?style=popout
+[cjl-slack]: https://join.slack.com/t/caesarjl/shared_invite/zt-ucs06bwg-y2tEbddwX1vR18MASnOLsw
 
-See [references of interest here](http://www.juliarobotics.org/Caesar.jl/latest/refs/literature/)
+[jlorg-url]: http://www.julialang.org/
+[wwai-url]: https://www.wherewhen.ai