Updating the readme

Author: pvandervelde

README.md

@@ -1,2 +1,43 @@
 # scuttle_bringup
-SCUTTLE Bringup
+
+Provides a convenient entrypoint for starting all the SCUTTLE related ROS nodes in the correct order.
+
+## Dependencies
+
+
+The configurations in this repository assume you have the following prerequisites installed on the
+device on which you want to run this code. That device might be an Ubuntu machine or a physical
+SCUTTLE using Raspberry Pi OS.
+
+1. [ROS Noetic](http://wiki.ros.org/noetic) with the `ros-noetic-navigation`, `ros-noetic-robot` and
+   `ros-noetic-tf2` packages.
+1. A working [ROS workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+1. The [scuttle_navigation](https://github.com/scuttlerobot/scuttle_navigation) package should be
+   installed.
+1. If launched on a physical SCUTTLE then the [scuttle_driver](https://github.com/scuttlerobot/scuttle_driver)
+   package should be installed.
+1. If launched via a [systemd daemon](https://en.wikipedia.org/wiki/Systemd) then the
+   [teleop_twist_joy](https://github.com/scuttlerobot/teleop_twist_joy) package should be installed.
+
+*Note:* `scuttle_bringup` does not launch [scuttle_slam](https://github.com/scuttlerobot/scuttle_slam)
+by default because not all SCUTTLE robots come equipped with a LIDAR. Additionally the implementation
+of the [Gmapping](http://wiki.ros.org/gmapping) algorithm outputs a large amount of logs to the console
+that cannot be silenced easily. It is more appropriate to run this node separately and suppress the
+logs when they are not needed.
+
+## Usage
+
+There are two different ways to launch `scuttle_bringup` depending on the reason for launching
+the SCUTTLE ROS nodes.
+
+When launching the SCUTTLE ROS nodes manually it is recommended to use the
+[launch/scuttle_bringup.launch](launch/scuttle_bringup.launch) file as follows
+
+    roslaunch scuttle_bringup scuttle_bringup.launch
+
+This will launch all the required nodes for navigation with SCUTTLE using ROS.
+
+When launching the SCUTTLE ROS nodes as part of the start-up process of a physical scuttle you can
+use the [launch/scuttle_bringup_daemon.launch](launch/scuttle_bringup_daemon.launch) file. This
+will launch the navigation stack as well as an additional node for joystick control so that you can
+control the SCUTTLE with the provided joypad.