Launch Iris: update README

Signed-off-by: Rhys Mainwaring <[email protected]>

ardupilot_gz/README.md

@@ -1,25 +1,23 @@
 # ardupilot_gz
 
-Adapted from the ros_gz_project_template project integrating ROS and Gazebo simulator
+Adapted from the [`ros_gz_project_template`](https://github.com/gazebosim/ros_gz_project_template) project integrating ROS 2 and Gazebo.
 
 ## Included packages
 
-* `ardupilot_gz_description` - holds the sdf description of the simulated system and any other assets
+* `ardupilot_gz_description` - Contains the sdf description of the simulated
+  system and any other assets.
 
-* `ardupilot_gz_gazebo` - holds gazebo specific code and configurations.  Namely this is where systems end up.
+* `ardupilot_gz_gazebo` - Contains Gazebo specific code and configurations such
+  as system plugins.
 
-* `ardupilot_gz_application` - holds ros2 specific code and configurations
+* `ardupilot_gz_application` - Contains ROS 2 specific code and configuration.
 
-* `ardupilot_gz_bringup` - holds launch files and high level utilities
+* `ardupilot_gz_bringup` - Contains launch files and high level utilities.
 
 
 ## Install
-### Use as template
-Directly `Use this template` and create your project repository on github.
 
-### On Host System
-##### Requirements
-On Ubuntu Jammy
+### Dependencies
 
 1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
 
@@ -29,22 +27,19 @@ On Ubuntu Jammy
 
     `sudo apt install python3-vcstool python3-colcon-common-extensions git wget`
 
-##### Usage
+### Usage
 
 1. Create a workspace, for example:
 
     ```
-    mkdir -p ~/template_ws/src
-    cd ~/template_ws/src
+    mkdir -p ~/ros2_ws/src
+    cd ~/ros2_ws/src
     ```
 
-1. Clone the template:
+1. Clone the project:
 
     ```
-    git clone 
-    wget https://raw.githubusercontent.com/gazebosim/ros_gz_project_template/main/template_workspace.yaml
-    vcs import < template_workspace.yaml
-    cd ~/template_ws
+    TBC
     ```
 
 1. Set the Gazebo version to Garden:
@@ -64,39 +59,70 @@ On Ubuntu Jammy
 1. Build and install
 
     ```
-    cd ~/template_ws
+    cd ~/ros2_ws
     colcon build --cmake-args -DBUILD_TESTING=ON
     ```
 
-##### Run
+### Run
 
 1. Source the workspace
 
-    `. ~/template_ws/install/setup.sh`
+    `. ~/ros2_ws/install/setup.sh`
 
 1. Launch the simulation
 
-    `ros2 launch ardupilot_gz_bringup example.launch.py`
+    `ros2 launch ardupilot_gz_bringup bringup_iris.launch.py`
+
+1. Launch the a GCS
+
+    `mavproxy.py --console --map`
+
+1. Inspect topics
+
+    ```bash
+    $ ros2 topic list
+    /ROS2_BatteryState0
+    /ROS2_NavSatFix0
+    /ROS2_Time
+    /clicked_point
+    /clock
+    /goal_pose
+    /initialpose
+    /iris/odometry
+    /joint_states
+    /parameter_events
+    /robot_description
+    /rosout
+    /tf
+    /tf_static
+    ```
 
 
 ## Notes
 
 1. Additional dependency
 
-`ros_gz` has a dependency on `gps_msgs` from
+    `ros_gz` has a dependency on `gps_msgs` included in
+
+    ```bash
+    git clone https://github.com/swri-robotics/gps_umd.git -b ros2-devel
+    ```
 
-```bash
-git clone https://github.com/swri-robotics/gps_umd.git -b ros2-devel
-```
+    Add `COLCON_IGNORE` to `gpsd_client` as this package is not required and
+    will not build on macOS. 
 
-2. sdformat_urdf
+1. sdformat_urdf
 
-On macOS the `robot_state_publisher` node cannot load the
-`sdformat_urdf_plugin` plugin unless the
-suffix is changed:
+    On macOS the `robot_state_publisher` node cannot load the
+    `sdformat_urdf_plugin` plugin unless the
+    suffix is changed:
+
+    ```bash
+    cd ./install/sdformat_urdf/lib
+    ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib
+    ```
 
-```bash
-cd ./install/sdformat_urdf/lib
-ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib
-```
+1. Model URIs
 
+    The `<uri>` element must use the `package` prefix for resource to be located
+    by RViz.