Update README.md

README.md

@@ -1,5 +1,39 @@
 # NOVAOnboarding
-onboarding for UTD nova lab
+Onboarding for UTD Nova Lab. Demo: https://youtu.be/Avia9JZHDv0
+
+## Procedure
+### Container Setup
+- Used Ubuntu:jammy image with a container mounted to host volume `dockerShare` in my documents folder
+  - Downloaded ros2 dependencies and source code and built (took a couple hours)
+  - added `.bashrc` file to auto-source ros2 on container start.
+- Exported this install container to a docker image named `ros2SourceRunner`
+- Created a new docker network named `main_to_chaser`
+- Created two new containers from the docker image ros2SourceRunner, both mounted to the same host volume `dockerShare`, both connected to network `main_to_chaser`
+  - Both with x11 forwarding for use with xQuartz to forward the screen output to the main machine
+
+### Ros2 Package Setup
+- Created my `adipu_ws` workspace in dockerShare, and ran `ros2 pkg create adipu_turtlesim_controller --build-type ament_python -- dependencies rclpy`
+  - This created the package for all my nodes
+  - Could then run colcon build in my workspace to build this package (had to downgrade `setuptools`)
+- Created `mouse_follow_node` that sends commands to turtle1 based on mouse position on screen
+  - Plus, can click on pop up window to pause control and right-click to clear canvas!
+  - Added node to `setup.py` entrypoints
+  - Based on proportional control, similar to chaser turtle.
+    - dist. from imaginary goal is mouse position relative to center of screen
+    - angle from imaginary goal is angle to mouse position from center of screen.
+- Created `initTurt_launch.py`, which calls both the main `turtlesim_node` as well as `mouse_follow_node` and calls the `spawn` service when available
+  - Didn't realize availability checking was built into the service call initially, spent a lot of time messing with `TimerAction()` lol
+- Created `chaser_node` and `chaser_flipper_node` that make turtle 2 run toward or away from turtle 1 and flip the behavior of turtle 2, respectively
+  - Tested these nodes with Bool message type initially
+- Created `adipu_msg` package, added `Flip` message type
+  - `Flip` is an empty message type, as `chaser_node` only needs to know when to flip. The rest is handled by the nodes themselves.
+  - Learning how to make this package was a bit harder, as I had to use cmakelists and stuff.
+- Switched message type to `Flip()` in `chaser_node` and `chaser_flipper_node`
+- Created launch file `chaseTurt_launch.py` to launch `chaser_node` and `chaser_flipper_node`
+
+### Running it
+- Ran `initTurt_launch.py` in container `mainTurt`
+- Ran `chaseTurt_launch.py` in container `chaserTurt`
 
 ```text
 dockerShare