docs: update README.md

README.md

@@ -2,27 +2,40 @@
 The project aims to create a basic model of the differential drive robot using ROS2.
 This model can serve as a basis for testing control and localization algorithms.
 
-Ubuntu: 24.04  
-ROS2: Jazzy  
-Gazebo: Harmonic
+**Ubuntu**: 24.04  
+**ROS2 Distro**: Jazzy  
+**Gazebo**: Harmonic
 
 
 ## Installation
-Install dependencies
+### Install dependencies
 
 ```bash
  sudo apt install ros-${ROS_DISTRO}-xacro \
-                  ros-${ROS_DISTRO}-joint-state-publisher \
-                  ros-${ROS_DISTRO}-ros2-control \
+                  ros-${ROS_DISTRO}-joint-state-publisher \            
+```
+
+Install [ros2_control](https://github.com/ros-controls/ros2_control) packages:
+```bash
+ sudo apt install ros-${ROS_DISTRO}-ros2-control \
                   ros-${ROS_DISTRO}-ros2-controllers \             
 ```
 
-Install Gazebo for a specific ROS2 version. More details from the [source](https://gazebosim.org/docs/latest/ros_installation/):
+Install [Gazebo](https://github.com/gazebosim) for a specific ROS2 version. More details from the [source](https://gazebosim.org/docs/latest/ros_installation/):
 ```bash
  sudo apt install ros-${ROS_DISTRO}-ros-gz \
                   ros-${ROS_DISTRO}-gz-ros2-control
 ```
 
+Install [Nav2](https://github.com/ros-navigation/navigation2) framework:
+```bash
+sudo apt install ros-${ROS_DISTRO}-navigation2 \
+                 ros-${ROS_DISTRO}-nav2-bringup
+```
+
+
+### Build project
+
 Open the directory where the ros2 workspace will be stored.
 Clone repository and build project:
 ```bash
@@ -35,7 +48,7 @@ Clone repository and build project:
 
 Use this launch file to see model preview in RViz2:
 ```bash
- ros2 launch twr_sim rviz.launch.py
+ ros2 launch twr_sim rviz2.launch.py
 ```  
 
 ![](images/twr_rviz2.png)
@@ -54,3 +67,14 @@ Start the simulation in Gazebo:
 ```
 
 You can choose whether to use RViz2 for the simulation using the `use_rviz2` launch argument (by default `True`).
+
+
+## Keyboard control
+
+Use the `teleop_twist_keyboard` package to implement basic keyboard control:
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_drive_controller/cmd_vel -p stamped:=True
+```
+
+[More information](https://github.com/ros-teleop/teleop_twist_keyboard) about this package.