Update README.md

README.md

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-# hunter_robot
+# Hunter Robot Simulation
 
+This repository contains the **URDF** description and Gazebo simulation for the **Hunter V2** robot. The Hunter V2 is an **Ackermann-steered** mobile robot with front-wheel steering, simulated using ROS 2 control.
+
+Official Robot Website: [AgileX Hunter V2B](https://robosavvy.co.uk/agilex-hunter-2b.html)
+
+---
+
+## Key Features
+
+- **Ackermann Steering**: Configured for front-wheel steering with accurate kinematics.
+- **ROS 2 Control Integration**: Leverages `ros2_control` for simulating robot kinematics and dynamics.
+- **URDF Description**: Detailed robot description based on manufacturer specifications.
+- **Gazebo Simulation**: Visualize and simulate the Hunter V2 robot in Gazebo.
+- **Rviz Support**: Visualize the robot and interact with its joints using Rviz.
+
+---
+
+
+## Installation and Build Instructions
+
+### Prerequisites
+Ensure you have a ROS 2 workspace set up. If not, create one:
 ```bash
-sudo apt install ros-humble-ackermann-*
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws
+colcon build
+```
+
+### Clone and Build
+1. Clone this repository into your ROS 2 workspace:
+    ```bash
+    cd ~/ros2_ws/src
+    git clone https://github.com/LCAS/hunter_robot.git
+    ```
+2. Install dependencies:
+    ```bash
+    rosdep update
+    rosdep install --from-paths . --ignore-src -r -y
+    ```
+3. Build the workspace:
+    ```bash
+    cd ~/ros2_ws
+    colcon build
+    source install/setup.bash
+    ```
+
+---
 
-ros2 run joint_state_publisher_gui joint_state_publisher_gui 
+## Packages Overview
 
-ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/ackermann_steering_controller/reference -p stamped:=true
+This repository includes the following ROS 2 packages:
 
+1. **`hunter_description`**: URDF and robot description files.
+2. **`hunter_gazebo`**: Simulation environment for the Hunter V2 in Gazebo.
+
+---
+
+## Usage
+
+### 1. Visualize the Robot in Rviz
+
+To view the robot model and interact with its joints in Rviz:
+
+```bash
+ros2 launch hunter_description robot_view.launch.py
 ```
 
-  <!-- REF: https://youtu.be/BcjHyhV0kIs?si=dUpg7IF-kHSUgB-w -->
-  <!-- Robot website: https://robosavvy.co.uk/agilex-hunter-2b.html -->
-  <!-- The values are from: https://github.com/agilexrobotics/ugv_gazebo_sim/blob/master/hunter/hunter2_base/urdf/hunter2_base_gazebo.xacro -->
+This launch file starts Rviz and loads the Hunter V2 model.
+
+![Rviz Simulation](https://github.com/user-attachments/assets/1cc10c03-fad7-47b0-8816-74c49d79be31)
+
+---
+
+### 2. Simulate the Robot in Gazebo
+
+To load the Hunter V2 in a Gazebo simulation environment:
+
+```bash
+ros2 launch hunter_gazebo launch_sim.launch.py
+```
+
+![Gazebo Simulation](https://github.com/user-attachments/assets/90757617-af3b-4bc8-bf1f-f08c5ecc1247)
+
+---
+
+### 3. Control the Robot with Teleop
+
+You can control the Hunter V2 using the `teleop_twist_keyboard` package. First, ensure the simulation is running, then execute:
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/ackermann_like_controller/cmd_vel
+```
+
+Use the keyboard inputs to move the robot in the simulation.
+
+---
+
+## Robot Specifications
+
+The primary robot parameters, such as mass, wheel size, and turning angles, are derived from the manufacturer's specifications and the following reference repository:
+
+- [Hunter 2 Base URDF (AgileX Robotics)](https://github.com/agilexrobotics/ugv_gazebo_sim/blob/master/hunter/hunter2_base/urdf/hunter2_base_gazebo.xacro)
+
+---
+
+## License
+
+This project is licensed under the **Apache License**. See the [LICENSE](LICENSE) file for details.
+
+---
+
+## References
+
+For more details on ROS 2 Control and Gazebo integration, see:
+
+- [ros2_controllers](https://github.com/ros-controls/ros2_controllers/tree/master)
+- [gazebo_ros2_control](https://github.com/ros-controls/gazebo_ros2_control)
+- [Getting Started with ros2_control](https://control.ros.org/humble/doc/getting_started/getting_started.html)
+- [ros2controlcli Documentation](https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html)
+- [gazebo_ros2_control User Guide](https://control.ros.org/rolling/doc/gazebo_ros2_control/doc/index.html)
+- [Video Tutorial](https://youtu.be/BcjHyhV0kIs?si=dUpg7IF-kHSUgB-w)
 
-https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
+---