Update README.md

README.md

@@ -1 +1,81 @@
-# Rgator_computer_ws
+# Rgator_computer_ws
+
+## ROS2 Packages:
+
+### dbw: 
+- dbw: subscribe control command
+- dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic
+
+### joy_control: 
+  - joy_control: subscribe joystick input and publish contorl command  
+
+### dbw_msgs: 
+  - Dbw: define control command
+  - [PGNs]: vehicle CAN bus data msg
+
+### vectornav:
+  - vectornav: gnss-ins-imu driver
+  - vectornav_msgs: gnss-ins-imu msg
+
+### gps_nav:
+  - pid: control vehicle speed only
+  - pp_pid: pure pursuit for steering control, pid for speed control
+  - track_log: log x,y,heading data from imu, convert to .csv file
+  - path_visual: visualize track
+
+ 
+
+## Driver Usage:
+
+### Joystick driver:
+default joystick input frequency at 20Hz:
+
+    ros2 run joy joy_node
+
+set joystick input frequency as 40Hz:
+
+    ros2 run joy joy_node --ros-args -p autorepeat_rate:=40.0
+
+### Drive-by-wire:
+control the vehicle only:
+
+    ros2 run dbw dbw
+
+control the vehicle and read CAN bus data:
+
+    ros2 run dbw dbw_read
+
+### Vectornav GNSS-INS sensor:
+launch with modified configuratuion file:
+
+    ros2 launch vectornav vectornav.launch.py
+
+
+
+ 
+
+## Project Application:
+
+### Joystick control
+
+    ros2 run joy joy_node
+    ros2 run joy_control joy_control
+    ros2 run dbw dbw
+
+or
+
+    ros2 launch joy_control joy_control_launch.py
+
+### Path track
+
+    ros2 launch vectornav vectornav.launch.py
+    ros2 run dbw dbw
+    ros2 run gps_nav pp_pid
+
+### Path log
+
+    ros2 launch vectornav vectornav.launch.py
+    ros2 run gps_nav track_log
+
+
+