update readme and assets

Author: labiybafakh

README.md

@@ -1,12 +1,25 @@
 # turtlebot3_obstacle_avoidance
 
+## Introduction
+
 This simulation is based on [turtlebot3 website](https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/).
 
-## Requirement 
-### 1. If gazebo-ros and gazebo-plugins have not been installed, please install it.
+## Prequisition 
+### 1. ROS
+1. ros-noetic-dekstop installed.
+2. Install some packages below
 ```bash
 sudo apt-get install ros-noetic-gazebo-ros ros-noetic-gazebo-plugins ros-noetic-move-base-* ros-noetic-actionlib-* ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control ros-noetic-dwa-local-planner ros-noetic-slam-karto
 ```
+
+### 2. Clone repositories.
+1. Clone repository
+```bash
+cd ~
+mkdir -p noetic_ws/src && cd noetic_ws/src
+git clone https://github.com/labiybafakh/turtlebot3_obstacle_avoidance
+```
+2. Get turtlebot3 packages to run this reposity, but if it has been installed on system, you can skip it.
 If vcstool has not been installed, please install it.
 ```bash
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
@@ -15,15 +28,6 @@ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo ap
 sudo apt-get update
 sudo apt-get install python3-vcstool
 ```
-
-### 2. Clone repositories.
-1. Clone this repository.
-```bash
-cd ~
-mkdir -p noetic_ws/src && cd noetic_ws/src
-git clone https://github.com/labiybafakh/turtlebot3_obstacle_avoidance
-```
-2. Get another turtlebot3 packages to run this reposity, but if it has been installed on system, you can skip it.
 ```bash
 cd turtlebot3_obstacle_avoidance
 vcs import . < turtlebot3.repos
@@ -33,20 +37,39 @@ vcs import . < turtlebot3.repos
 ### 1. Build
 ```bash
 cd ~/noetic_ws/
-catkin build
+catkin make
+source devel/setup.bash
 ```
 ### 2. Run
-#### 1. Run the simulation environment.
+#### 1. Creating Map.
+```bash
+export TURTLEBOT3_MODEL=burger
+roslaunch obstacle_avoidance creating_map.launch
+```
+and save it by run another launch file.
+```bash
+source devel/setup.bash
+roslaunch obstacle_avoidance map_saver.launch
+```
+It also can be also done by changing the path inside the map.yaml file. 
+```yaml
+image: /home/toys/noetic_ws/src/turtlebot3_obstacle_avoidance/obstacle_avoidance/maps/map.pgm
+```
+
+#### 2. Run simulation environment.
+Make sure that it can be ran like the video below by using 2D Nav Goal tool in RViz. If it is ok, it is better to re-run the launch file, but it also ok to go to the next step.
 ```bash
 export TURTLEBOT3_MODEL=burger
 source devel/setup.bash
 roslaunch obstacle_avoidance simulation.launch
 ```
+![Navigate with rviz](assets/nav-rviz.mp4)
 
 #### 2. Run the node to publish random position and keep moving.
 It should be run in different terminal.
 ```bash
 export TURTLEBOT3_MODEL=burger
 source devel/setup.bash
 rosrun obstacle_avoidance obastacle_avoidance
-```
+```
+![Free moving and random goal](assets/obstalce-avoidance-with-free-move.mp4)