Doc and image

README.md

@@ -1,10 +1,17 @@
 # Luos ROS example: Bike sharing example
 
+This is a Luos example using ROS2, the bike sharing application:
 
-This is a Luos example using ROS2: the bike sharing setup works as is: TODO
+* The bike pops up in steady green when it's idle
+* Agitate the imu when it's idle, it's being stolen, the RGB alarm flashes in red
+* Press the state button to acknowledge the alarm
+* Press again to start riding, the bike slighly blinks in green
+* Press a new time to stop riding, it becomes idle again
 
-## Get started
-Make sure you first downloaded package `luos_interface` from `luos_ros2` repository and this example package and that you have compiled and sourced your ROS2 workspace:
+![Bike sharing example](./doc/img/rviz.png)
+
+## Get started in ROS2
+First, download packages and compile:
 ```
 ~/ros2_ws/src/$ git clone https://github.com/aubrune/luos_ros2.git
 ~/ros2_ws/src/$ git clone https://github.com/aubrune/luos_bike_alarm_example.git
@@ -13,11 +20,11 @@ Make sure you first downloaded package `luos_interface` from `luos_ros2` reposit
 ~/ros2_ws/$ source ~/.bashrc                  # Source all new launches messages and resources
 ```
 
-Plug at least a Luos Imu node and gate to your computer. The expected alias is `Imu_mod`.
+Plug at least a Luos Imu node and gate to your computer, as well as optional RGB and State modules. The expected Luos modules' aliases are the default, if they're not, update the [topic names](./luos_bike_alarm_example/bike_alarm.py#L12) with your custom aliases.
 
 Then, start the bike example from its launchfile:
 ```
 ~/ros2_ws/$ ros2 launch luos_bike_alarm_example example.launch.py
 ```
 
-RViz2 will pop up and show a bike, agitate the Luo Imu node in order to update the RViz2 view in real time. If the bike shows but does not actuate, make sure that Imu data comes from the expected topic `/Imu_mod/imu`, or change the topic name.
+RViz2 will pop up and show a bike, agitate the Luo Imu node in order to update the RViz2 view in real time. If the bike shows but does not actuate, make sure that Imu data comes from the expected topic `/Imu_mod/imu`, or change the topic name.