Added quick start

docs/README.md

@@ -16,3 +16,56 @@ information that may be useful to document as it relates to the
     1. [Development Workflow](./usage/development_workflow.md)
     2. [How to Run](./usage/how-to-run.md)
 3. [Frequently Asked Questions](./misc/faq.md)
+
+## Quick Start
+
+This section provides the main commands necessary to launch various components. Please ensure you understand the previous topics in the [Table of Contents](#table-of-contents) before continuing.
+
+### Start up vnc
+
+You'll probably want to visualize GUI windows, so start up vnc first.
+
+```bash
+$ atk dev -u -s vnc
+WARNING  | logger.set_verbosity :: Verbosity has been set to WARNING
+[+] Running 1/1
+ ✔ Container art-vnc  Started
+```
+
+If you see the following warning, **ignore it**. This simply says that substituting the `$DISPLAY` in the `atk.yml` file fails because `$DISPLAY` is unset which is expected. By passing `vnc` as an optional later, this will override the variable.
+```bash
+WARN[0000] The "DISPLAY" variable is not set. Defaulting to a blank string.
+```
+
+> [!NOTE]
+> You can also use x11 if you're _not_ ssh'd to the host. Replace all `vnc` flags in the `--optionals` with `x11` to do this.
+
+### Launch the simulation
+
+```bash
+$ atk dev -ua -s chrono --optionals gpus vnc
+WARNING  | logger.set_verbosity :: Verbosity has been set to WARNING
+[+] Running 1/1
+ ✔ Container art-chrono  Started
+art@art-chrono:~/art/sim$ cd python
+art@art-chrono:~/art/sim/python$ python3 demo_ART_cone.py --track
+Running demo_ART_cone.py...
+Loaded JSON: /home/art/art/sim/data/art-1/sensors/camera.json
+Loaded JSON: /home/art/art/sim/data/art-1/sensors/accelerometer.json
+Loaded JSON: /home/art/art/sim/data/art-1/sensors/gyroscope.json
+Loaded JSON: /home/art/art/sim/data/art-1/sensors/magnetometer.json
+Loaded JSON: /home/art/art/sim/data/art-1/sensors/gps.json
+Shader compile time: 5.04626
+Initializing rclcpp.
+Initialized ChROSInterface: chrono_ros_node.
+```
+
+### Run the autonomy stack
+
+```bash
+$ atk dev -ua -s dev --optionals gpus vnc
+WARNING  | logger.set_verbosity :: Verbosity has been set to WARNING
+[+] Running 1/1
+ ✔ Container art-dev  Started
+art@art-dev:~/art/workspace$ ros2 launch art_launch art.launch.py use_sim:=True
+```