Issue #3: Updates README

- Updates the README to document the way to run the AV stack with the recent additions.

README.md

@@ -1,24 +1,55 @@
 # carla_circle
 
+Workspace for ROS and scripts to work with Carla MCity Event 1.
 
-workspace for ros and scripts to work with Carla Event 5
+## carla version / carla ros version
 
+For this challenge we use a special MCity binaries provided by Michigan. The
+binaries use Carla version 0.9.9.4 and have a special map designed for the
+challenges.
 
-*Stage 1*:
 
-    Each team will have a single agent only.  
-    No bot cars.  
-    Your agent will enter the roundabout, drive for 5 minutes, then leave. Entry/exit points are similar to the previous CARLA event.  
-    Success is determined by how long you can sustain driving on the roundabout without collisions.  
+## Setup your Catkin workspace
 
-*Stage 2*:
+Start by creating a new catkin workspace directory. Something like
 
-    Similar to Stage 1. However, each university is expected to instantiate and run two agents, instead of a single agent.  
+```bash
+source /opt/ros/melodic/setup.bash
+mkdir -p ~/Catkin_Workspace/tri-carla-challenges/src
+cd ~/Catkin_Workspace/tri-carla-challenges
+```
 
-### carla version / carla ros version
-0.9.5
+We need to clone our repositories to the `src` directory
 
+```bash
+cd ~/Catkin_Workspace/tri-carla-challenges/src
+git clone [email protected]:StanfordMSL/carla_circle.git -b update_planners
+git clone https://github.com/carla-simulator/ros-bridge.git
+cd ~/Catkin_Workspace/tri-carla-challenges/src/ros-bridge
+git reset --hard 1096747a6e84bf01ea1a859b9a0f6d01e0304ef6
+git submodule update --init
+cd ~/Catkin_Workspace/tri-carla-challenges/src
+git clone [email protected]:StanfordMSL/uav_game.git -b carla
+```
 
+Then we need to compile our Catkin workspace
 
-### to run simulation  
-see wiki
+```bash
+cd ~/Catkin_Workspace/tri-carla-challenges
+catkin clean --yes
+export GUROBI_HOME=/opt/gurobi811/linux64
+catkin build uavgame
+catkin build carla_ackermann_control carla_circle carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher
+catkin build rqt_carla_control
+```
+
+## Run the AV client
+
+We should now be able to run the AV client on the server. In a terminal enter
+the following:
+
+```bash
+export PYTHONPATH=$PYTHONPATH:/opt/Carla/MCity/PythonAPI/carla/dist/carla-0.9.9-py2.7-linux-x86_64.egg
+source ~/Catkin_Workspace/tri-carla-challenges/devel/setup.bash
+roslaunch carla_circle mcity_event1.launch host:=localhost port:=2000 max_speed:=5.0 opp_vel:=5.0 plan_steps:=10 plan_horizon:=3.0
+```