Added scenarios to readme

Signed-off-by: Michał Pełka <[email protected]>

kraken_nav/README.md

@@ -104,11 +104,112 @@ colcon build --symlink-install
 
 1. [Build](https://github.com/aws-lumberyard/ROSConDemo#download-and-install) and run the `ROSConDemo`
 2. Load level `Main`
+3. Start a simulation by hitting `CTRL+G`
 
-## Running the kraken stack for multiple vehicles
+## Usage scenario
+
+### Single robot teleoperation with joystick
+1. Make sure that you have ROS2 workspace sourced
+
+```bash
+cd ~/o3de_kraken_ws
+source ./install/setup.bash
+```
+
+2. Make sure that you have `CycleDDS` as middleware 
+```bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+```
+
+3. Start teleoperation launch, make sure that you have your joystick plugged in
+```bash
+ros2 launch o3de_kraken_nav teleop.launch.py namespace:=apple_kraken_rusty_1
+```
+
+4. Spawn a single robot
+```
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}'
+```
+
+5. You should be able to drive the robot
+
+### Single robot navigation
+
+> Note: Slam is turned off by default since we have ground truth information about the robot's position from the simulator. However, it is possible to enable `slam_toolbox` forcefully. You can allow slam by adding `use_slam:=True` to the navigation launch command.
+
+
+1. Make sure that you have ROS2 workspace sourced
+
+```bash
+cd ~/o3de_kraken_ws
+source ./install/setup.bash
+```
+
+2. Make sure that you have `CycleDDS` as middleware 
+```bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+```
+
+3. Run the navigation stack
+
+```bash
+ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True
+```
+
+4. Spawn the robot
+```bash
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}'
+```
+
+5. You should be able to send goal to the robot. 
+Make sure that that you use only the first `2D Goal Pose`
+
+
+### Multiple robots navigation
 
 > Note: Slam is turned off by default since we have ground truth information about the robot's position from the simulator. However, it is possible to enable `slam_toolbox` forcefully. You can allow slam by adding `use_slam:=True` to the navigation launch command.
 
+1. Make sure that you have ROS2 workspace sourced
+
+```bash
+cd ~/o3de_kraken_ws
+source ./install/setup.bash
+```
+
+2. Make sure that you have `CycleDDS` as middleware 
+```bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+```
+
+3. Run the first navigation stack with `Rviz` param set to `True`:
+
+```bash
+ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True
+```
+
+4. Run the navigation stack for rest of the robots (in different terminals, remember about points `1-2`):
+
+```bash
+ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_2 rviz:=False
+ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_3 rviz:=False
+ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_4 rviz:=False
+```
+
+5. Spawn multipel robots
+```bash
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}' &&
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_shiny', xml: 'line2'}' &&
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line3'}' &&
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_shiny', xml: 'line4'}'
+```
+
+6. You should be able to send goals to multiple robots.
+
+### Multiple robots with Kraken stack 
+
+In this scenario on top of four navigation stacks, the orchestrator nodes are executed.
+Those are providing navigation stacks with goals and trigger apple gathering.
+
 1. Source the workspace
 
 ```bash
@@ -117,7 +218,6 @@ source ./install/setup.bash
 ```
 
 2. Set up `CycloneDDS` rmw:
-
 ```bash
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ```
@@ -128,7 +228,7 @@ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True
 ```
 
-4. Run the navigation stack for rest of the robots (in different terminals, remember about points `1-3`):
+4. Run the navigation stack for the rest of the robots (in different terminals, remember about points `1-2`):
 
 ```bash
 ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_2 rviz:=False
@@ -136,7 +236,7 @@ ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_r
 ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_4 rviz:=False
 ```
 
-5. Run the orchestration nodes for all the robots (in speparate terminals):
+5. Run the orchestration nodes for all the robots (in separate terminals):
 
 ```bash
 ros2 run o3de_kraken_orchestration kraken_orchestration_node --ros-args -p robot_name:=apple_kraken_rusty_1 -p spawn_line:=line1