From 486c2bbc68e9771427cb8643f10a1ad0970b3b16 Mon Sep 17 00:00:00 2001
From: felix <felix.kong@uts.edu.au>
Date: Thu, 14 Dec 2023 11:35:20 +1100
Subject: [PATCH] update readme

---
 README.md | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index ff0ac32..e952bdc 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,16 @@
-# ROS1 Bridge Custom Interfaces w/ Humble on 22.04 (jammy)
+# ROS1 Bridge: Custom Messages and Services between ROS1 and ROS2 Humble on Ubuntu 22.04 (jammy)
+There is an Ubuntu Focal (20.04) version of this here: https://code.research.uts.edu.au/157607/custom-bridge-focal-example
 
 
-1. run `./run.sh -b` to build the docker image, copy custom msgs into the docker image and compile ros1 bridge
+# Build and run
+Everything runs in a docker container, so it doesn't matter what your local machine has. 
+1. run `./run.sh -b` to build the docker image, copy custom msgs into the docker image and compile ros1 bridge. This can take a while (we had it take 2305 sec on an XPS 15 9520).
 
-2. `./run.sh` to launch the container and interract with bridge, ros1 and ros2.
+2. `./run.sh` to launch the container and interact with bridge, ros1 and ros2. Use `docker exec` to get into the containers and run stuff.
+
+# Important details
+- The message, service, and package names in ROS1 and ROS2 must match. 
+
+# FAQ
+- **What are "Intent" and "IntentComponent"?** These are just custom messages that we use in our projects; in this repo they're an example of a custom message.
+- **What version of ROS1 are you using?** It says `debian`, not `melodic` or `kinetic`. This because we use `ros-core-dev` on Ubuntu 22.04; we couldn't figure out how to build `melodic` from source on 22.04.
-- 
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