Added readme

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

kraken_nav/README.md

@@ -0,0 +1,48 @@
+# Apple kraken navigation #
+
+## Installation ##
+
+It is assumed that ROS2 `galactic` is used and the workspace dir is in `~/o3de_kraken_ws`.
+
+1. Source ROS2
+
+```bash
+source /opt/ros/galactic/setup.bash
+```
+
+1. Put this package in some workspace directory, inside `src`
+
+```bash
+mkdir -p ~/o3de_kraken_ws/src && cd ~/o3de_kraken_ws/src
+# put package here
+```
+
+1. Go to workspace dir and build this package
+
+```bash
+cd ~/o3de_kraken_ws
+colcon build 
+```
+
+## Running scene
+
+1. Make sure you have `https://github.com/RobotecAI/o3de-ros2-gem/tree/pjaroszek/ackermann_drive_model` branch in your `o3de-ros-gem`.
+1. Run the `Main` level from `ROSConDemo` repository - branch `mp/deappletreeized_orchad_kraken`.
+
+## Running nav stack
+
+1. Source the workspace
+
+```bash
+cd ~/o3de_kraken_ws
+. ./install/setup.bash
+```
+
+1. (This step is going to be removed) Adjust behavior tree setting `default_nav_to_pose_bt_xml` in `src/o3de_kraken_nav/launch/config/navigation_params.yaml` (line 6)
+
+1. Run the navigation stack
+
+```bash
+ros2 launch o3de_kraken_nav navigation.launch.py
+```
+