Updated README

Author: tabula-rosa

README.md

@@ -1,5 +1,5 @@
 # Overview
-This package contains control software and utilities for using the Robot Autonomy course arms.
+This package contains control software and utilities for using the robots for the CMU 16-662: Robot Autonomy course.
 
 # Dependencies
 This package requires the following software dependencies:
@@ -18,5 +18,31 @@ cd ~/ws/robauton_lab1
 catkin_make
 ```
 
+# Basic Usage
+After successful installation and build:
+```
+source ~/ws/robauton_lab1/devel/setup.bash
+cd ~/ws/robauton_lab1/cmu-16662-robot-ctrl
+roslaunch launch/position_control.launch
+```
+
+While this is running, in a separate terminal window (**NOTE**: the robot will move after these commands):
+```
+source ~/ws/robauton_lab1/devel/setup.bash
+cd ~/ws/robauton_lab1/cmu-16662-robot-ctrl
+python scripts/command_joints.py
+```
+
+# Troubleshooting
+The argument `device_name` in `position_control.launch` needs to be updated to the actual device being used on your platform, which is the USB device that the U2D2 controller is using. If the default parameter in `position_control.launch` is not valid, the following command will show the device name:
+```
+dmesg | grep 'attached to tty'
+```
+The message will appear similar to:
+```
+[    9.602622] usb 1-3: FTDI USB Serial Device converter now attached to ttyUSB0
+```
+In this case, `ttyUSB0` is indeed the device name. Change your launch script as appropriate based on the actual device your platform is using.
+
 # Attribution
 Thanks to Adithya Murali (@adithyamurali) for creating the skeleton and basic usage scripts.