switched README.md to instructions for us

README.md

@@ -1,19 +1,32 @@
-ROS Navigation Stack
+ROS Navigation Stack (Mayfield version)
 ====================
 
+Version: 0.1
+Maintainer: Kaijen Hsiao ([email protected])
+
 A 2D navigation stack that takes in information from odometry, sensor
 streams, and a goal pose and outputs safe velocity commands that are sent
 to a mobile base.
 
- * Devel Job Status: [![Devel Job Status](http://jenkins.ros.org/buildStatus/icon?job=devel-indigo-navigation)](http://jenkins.ros.org/job/devel-indigo-navigation/)
- * AMD64 Debian Job Status: [![Build Status](http://jenkins.ros.org/buildStatus/icon?job=ros-indigo-navigation_binarydeb_trusty_amd64)](http://jenkins.ros.org/job/ros-indigo-navigation_binarydeb_trusty_amd64/)
+To test pull requests before merging, run the following:
+
+```
+roslaunch turtlebot_gazebo turtlebot_playground.launch
+```
+
+In a second terminal, run our custom nav stack (Mayfield folks only):
+```
+roslaunch gizmo_ros_navigation navigation_demo.launch sim:=true
+```
+
+The equivalent inside this stack, which unfortunately doesn't have very good params (not needed if you did the last launch), is: 
+```roslaunch turtlebot_gazebo amcl_demo.launch```
 
-Related stacks:
+Finally, run rviz with an appropriate config file:
+```
+sudo apt-get install ros-indigo-turtlebot-interactions
+roslaunch turtlebot_rviz_launchers view_navigation.launch
+```
 
- * http://github.com/ros-planning/navigation_tutorials
- * http://github.com/ros-planning/navigation_experimental
+Use the 2D Nav Goal button in rviz to give the robot navigation goals.
 
-For discussion of ROS "hydro" release development, please check out the 
-https://groups.google.com/group/ros-sig-navigation mailing list and see
-the SIG pages at http://www.ros.org/wiki/sig/Navigation and
-http://www.ros.org/wiki/hydro/Planning/Navigation.