add introduction of docker and makefile usage to readme

README.md

@@ -44,6 +44,43 @@ $ cd ~/ros2_ws
 $ colcon build
 ```
 
+## Docker Setup
+
+If your operating system doesn't support ROS 2 humble, docker is a great alternative.
+
+First of all, you have to build the project and create an  image like so:
+
+```shell
+## Assuimg you are in the correct project directory
+$ docker build -t yasmin .
+```
+To use a shortcut, you may use the following command:
+
+```shell
+## Assuimg you are in the correct project directory
+$ make docker_build
+```
+
+After the image is created, copy and paste the following command to the terminal to run the image:
+
+```shell
+## Assuimg you are in the correct project directory
+$ docker run -it --net=host --ipc=host --privileged --env="DISPLAY"  --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority"  --entrypoint /bin/bash yasmin
+```
+To use a shortcut, you may use following command:
+
+```shell
+$ make docker_run
+```
+### Running the package at docker image
+
+If you are in the docker image , this project is already sourced and the demo script can be run as the following command;
+
+```shell
+$ cd /root/ros2_ws/
+$ ros2 run yasmin_demos yasmin_demo.py
+```
+
 ## Demos
 
 There are some examples, for both Python and C++, that can be found in [yasmin_demos](./yasmin_demos/).