change readme

README.md

 # group Astro, repository for the UV LARM
-
+---
 ## Authors :
 Inès El Hadri
 Lucas Naury
+
+---
+## Introduction
+This repository is a ROS2 package that allows the control of a kobuki robot. 
+### Table of Contents :
+
+1. [Authors](#authors)
+1. [Introduction](#introduction)
+1. [Installation](#installation)
+    1. [Requirements](#requirements)
+    1. [Install the package](#install-the-package)
+    1. [Build the package](#build-the-packages)
+1. [How to use the package](#how-to-use-the-package)
+    1. [In simulation](#in-simulation)
+    1. [On the bot](#on-the-bot)
+    1. [Visualization](#visualization)
+1. [Frequently Asked Questions](#faq)
+
+---
+## Installation
+### Requirements
+Before starting, please ensure you have installed the following
+- ROS2 Iron : https://docs.ros.org/en/iron/index.html
+- Python 3.10 : https://www.python.org/downloads/
+- Python packages :
+    * math, os, signal, sys, time (installed with python)
+    * numpy
+    * colcon-common-extensions
+    * opencv-python
+    * pyrealsense2
+    * cvbridge3
+    * scikit-image
+</br>
+    >Command :
+    `pip install numpy colcon-common-extensions opencv-python pyrealsense2 cvbridge3 scikit-image`
+
+### Install the package
+1. Open the command prompt in the ROS2 workspace directory
+1. Clone the IMT Tbot packages : `git clone https://bitbucket.org/imt-mobisyst/pkg-tbot/src/master/`
+1. Clone this repository : `git clone http://gvipers.imt-nord-europe.fr/ines.el.hadri/larm.git`
+
+
+### Build the packages
+In the same ROS2 workspace directory:
+- `colcon build`
+- `source install/setup.sh`
+
+This will build all the packages in the folder.
+
+---
+## How to use the package
+First, go in the ROS2 workspace.
+
+### In simulation
+To launch the challenge 1 in **simulation**, run the following command :
+`ros2 launch grp_astro simulation_launch.yaml`
+
+### On the tbot
+To launch the challenge 1 on the **real turtlebot**, run the following command :
+`ros2 launch grp_astro tbot_launch.yaml`
+
+### Visualization
+In parallel, if you want to **visualize** the information that is published on the different topics, you can run
+`ros2 launch grp_astro visualize.launch.py`
+
+> If you want to run this visualization on another computer than the one running the robot, make sure :
+> - they are on the **same network**
+> - they have the same **`ROS_DOMAIN_ID`** environment variable
+> - they have configured **`ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET`** in the environment variables
+
+---
+## FAQ