Update README

Signed-off-by: Yadunund <[email protected]>

README.md

@@ -2,10 +2,11 @@
 ![](https://github.com/open-rmf/rmf_obstacle_detectors/workflows/build/badge.svg)
 ![](https://github.com/open-rmf/rmf_obstacle_detectors/workflows/style/badge.svg)
 
-Packages that infer the presence of obstacles from sensor inputs.
-  - [rmf_obstacle_detector_laserscan](#rmf_obstacle_detector_laserscan)
-  - [rmf_human_detector_oakd](#rmf_human_detector_oakd)
+Packages that infer and react to the presence of obstacles from sensor inputs.
   - [rmf_human_detector](#rmf_human_detector)
+  - [rmf_human_detector_oakd](#rmf_human_detector_oakd)
+  - [rmf_obstacle_detector_laserscan](#rmf_obstacle_detector_laserscan)
+  - [rmf_obstacle_ros2](#rmf_obstacle_ros2)
 
 ## rmf_obstacle_detector_laserscan
 ![](../media/rmf_obstacle_detector_laserscan.gif)
@@ -67,3 +68,16 @@ To run:
 ```bash
 ros2 launch rmf_human_detector human_detector_launch.py
 ```
+
+## rmf_obstacle_ros2
+The `rmf_obstacle_ros2` package contains ROS 2 nodes that react to the presence of obstacles.
+
+At present the `lane_blocker_node` is available which subscribes to `/rmf_obstacles`, checks whether
+any of the obstacles intersects with any of the lanes across fleet navigation graphs.
+If a new intersection is determined, the lanes for the corresponding fleets are closed.
+Previously closed lanes are also opened once the obstacles no longer intersect with the lanes.
+
+To run:
+```bash
+ros2 run rmf_obstacle_ros2 lane_blocker_node
+```