Create README.md

README.md

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+# Wheelchair_code_module
+
+This ROS2 package contains the code that runs on the Jetson Nano Orin on the BAD. Its primary purpose is LiDAR data processing and navigation. It also includes a module for controlling the fan speed based on the Jetson's temperature.
+
+Here is the full list of included files:
+- Obstacle Publisher Node - Subscribes to the Mid-360 LiDAR data and processes it
+- Main - Subscribes to all the sensor data and makes navigation decisions
+- Stopping - An earlier prototype of using LiDAR detection to interupt navigation
+- Gyro - A prototype of using the IMU on the BAD to turn a number of degrees
+- Temp Monitor - Monitors the temperature of the Jetson Nano and runs the fans accordingly
+
+## Dependencies
+
+- ROS2 Humble
+- [wheelchair_sensor_msgs](https://github.com/WheelchairSeniorDesign/wheelchair_sensor_msgs)
+- Eigen
+- A Mid-360 LiDAR sensor for LiDAR data
+
+## How to install
+
+- Clone this repo into your `ros2_ws/src` folder (or other ROS2 workspace folder)
+- Run the command `colcon build` in the `ros2_ws` folder (see the ROS2 documentation for more details
+
+## How to run
+Run the command corresponding to the program that you want to run:
+- Obstacle Publisher Node - `ros2 run wheelchair_code_module obstacle_publisher_node`
+- Main - `ros2 run wheelchair_code_module wheelchair`
+- Stopping - `ros2 run wheelchair_code_module stopping`
+- Gyro - `ros2 run wheelchair_code_module gyro`
+- Temp Monitor - `ros2 run wheelchair_code_module temp_monitor`