📝 Update README

README.md

@@ -1,16 +1,68 @@
 # suave_rosa
 Applying ROSA to the SUAVE exemplar
 
+Tested with ubuntu 22.04 and ROS Humble
+
 ## Install
 
+Check the [SUAVE](https://github.com/kas-lab/suave) repo for additional installation instructions to install SUAVE.
+
+Create workspace and clone repo:
+```bash
+mkdir -p ~/suave_rosa_ws/src
+cd ~/suave_rosa_ws/src
+git clone [email protected]:kas-lab/suave_rosa.git
 ```
+
+Get dependencies:
+```bash
 source /opt/ros/humble/setup.bash
 vcs import src < rosa_suave.rosinstall --recursive
 rosdep install --from-paths src --ignore-src -r -y
 ```
 
+Build:
+```bash
+colcon build --symlink-install
+```
+
 ## Running
 
-## docker Build
+Run ardusub SITL:
+```bash
+sim_vehicle.py -L RATBeach -v ArduSub  --model=JSON --console
+```
+
+Run SUAVE simulation:
+```bash
+source ~/suave_rosa_ws/install/setup.bash
+ros2 launch suave simulation.launch.py x:=-17.0 y:=2.0
+```
+
+Run ROSA for the original SUAVE use case:
+```bash
+source ~/suave_rosa_ws/install/setup.bash
+ros2 launch suave_rosa suave_rosa.launch.py mission_type:=time_constrained_mission result_filename:=suave_rosa_result
+```
+
+Run ROSA for the extended SUAVE use case:
+```bash
+source ~/suave_rosa_ws/install/setup.bash
+ros2 launch suave_rosa suave_rosa_extended.launch.py mission_type:=time_constrained_mission result_filename:=suave_rosa_result
+```
+
+## Docker
+
+The SUAVE docker image was extended to include ROSA. You can find additional information about the original SUAVE image in the SUAVE repo.
 
-docker build --ssh default -t suave_rosa -f docker/Dockerfile .
+Run with docker:
+```bash
+docker run -it --shm-size=512m -v $HOME/rss_results:/home/kasm-user/suave/results -p 6901:6901 -e VNC_PW=password --security-opt seccomp=unconfined ghcr.io/kas-lab/suave_rosa:main
+```
+
+You can run SUAVE + ROSA with the instructions in the [running section](##running)
+
+Or you can use a runner to execute the experiments multiple times (check SUAVE repo for more info):
+```bash
+./rosa_runner.sh true rosa time 20
+```