Updated the readme file

README.md

@@ -1,10 +1,47 @@
-# Navigate_Multiple_Robots
+# Navigate Multiple Turtlebots
 
-![alt text](https://raw.githubusercontent.com/Pallav1299/Navigate_Multiple_Robots/master/thumbnail.png)
+![alt text](https://github.com/Barath19/Navigate_Multiple_Turtlebots/blob/master/assets/banner.png)
 
-How to navigate multiple robots in simulation using ROS and Gazebo.
+## Getting Started
 
-[![Watch the video](https://drive.google.com/file/d/14nKAhJnAltBh2-BE7m0fL__4v2HSFjEn/view?usp=sharing)](https://www.youtube.com/watch?v=iyL_hsqjKWI)
+### Clone the repository
+```
+cd ~/catkin_ws/src
+git clone https://github.com/Barath19/Navigate_Multiple_Turtlebots/tree/master
+```
+### Building the package
+```
+cd ..
+catkin build
+```
 
-Topic Credits:
-"The Construct"
+### Running the package
+
+Open a new terminal (Source the workspace)
+```
+roslaunch multi_turtlebots_sim main.launch
+```
+![alt text](assets/gazebo.png)
+Open another terminal (Source the workspace)
+```
+roslaunch multi_turtlebots_nav navigation.launch 
+```
+
+
+![alt text](assets/rviz_init.png)
+## Localization using AMCL
+
+- Once the rviz is opened, use the ``` Tool Properties ``` panel to set the robot initial pose and robot goal pose to respective robot's namespace. E.g. for ``` robot2 ```
+![alt text](assets/tool_properties.png)
+
+- Set the 2D navigation goal for the selected robot.
+
+![alt text](assets/2dnav.png)
+
+### Repeat the above two localization steps for all the robots, Until the particles converge.
+
+![alt text](assets/rviz.png)
+
+## Issue
+
+- Check the map.yaml file for path.

map_launcher/map/map_tb3_10.yaml

@@ -0,0 +1,7 @@
+image: /home/bk/ros1/turtle_ws/src/Navigate_Multiple_Turtlebots/map_launcher/map/map_tb3_10.pgm
+resolution: 0.050000
+origin: [-4.929477, -5.146988, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+