Added missing steps to the ROS guide and extended the descriptions of the nodes

.gitignore

@@ -1,3 +1,4 @@
+install/
 devel/
 logs/
 build/

README.md

@@ -1,6 +1,8 @@
 # Tactigon ROS2 Nodes Installation and Usage Guide
 
 ![ROS2 Logo](https://upload.wikimedia.org/wikipedia/commons/thumb/b/bb/Ros_logo.svg/1920px-Ros_logo.svg.png)
+![Tactigon Logo](https://pypi-camo.freetls.fastly.net/90dce08d567e5182bf672f417aded1b75e57b728/68747470733a2f2f617661746172732e67697468756275736572636f6e74656e742e636f6d2f752f36333032303238353f733d32303026763d34)
+
 
 Welcome to the **Tactigon ROS2 Nodes** guide! This document will help you install and use the Tactigon-based ROS2 packages.
 
@@ -13,6 +15,10 @@ Download and install Ubuntu 24.04 LTS from the [official website](https://ubuntu
 
 ### 2️⃣ Install ROS2 Jazzy
 Follow the official [ROS2 Jazzy Installation Guide](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) to install ROS2 and its developer tools.
+It is also suggested to run the following command after the installation in order to avoid having to source ros2 on each new terminal
+```bash
+echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
+```
 
 ---
 
@@ -21,8 +27,7 @@ Follow the official [ROS2 Jazzy Installation Guide](https://docs.ros.org/en/jazz
 ### 1️⃣ Download and Extract Files
 Download the compressed file containing the following folders:
 ```
-examples/
-tactigon_gear-5.4.0.tar.gz
+models/
 src/
 ```
 Extract the file into a directory named `ros2_ws`:
@@ -35,42 +40,24 @@ cd ~/ros2_ws
 Your workspace structure should look like this:
 ```
 ros2_ws/
-├── examples/
-├── tactigon_gear-5.4.0.tar.gz
+├── models/
 └── src/
     ├── tactigon_msgs/          # Custom message definitions
     └── tactigon_ros/           # Python package with nodes
 ```
 
 ---
 
-## 🔧 Installing Tactigon-Gear Library
-
-### 1️⃣ Create a Virtual Environment
-```bash
-cd ~/ros2_ws
-python3 -m venv ros_venv
-source ros_venv/bin/activate
-```
-
-### 2️⃣ Install Tactigon-Gear
-```bash
-pip install tactigon_gear-5.4.0.tar.gz
-```
-
-### 3️⃣ Deactivate Virtual Environment
-```bash
-deactivate
-```
-
----
-
 ## 🔨 Building the ROS2 Workspace
 
 ### 1️⃣ Install Dependencies
 ```bash
 cd ~/ros2_ws
-rosdep install --from-paths src --ignore-src -y --skip-keys tactigon-gear
+export PIP_BREAK_SYSTEM_PACKAGES=1
+sudo apt install python3-pip 
+sudo rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src -y 
 ```
 
 ### 2️⃣ Build the Workspace
@@ -82,12 +69,6 @@ colcon build
 ```bash
 source install/setup.bash
 ```
-
-### 4️⃣ Add Virtual Environment to `PYTHONPATH`
-```bash
-export PYTHONPATH=$PYTHONPATH:~/ros2_ws/ros_venv/lib/python3.12/site-packages
-```
-
 ---
 
 ## 📦 The `tactigon_msgs` Package
@@ -122,29 +103,35 @@ float32 gesture_probability
 ## ▶ Running the Nodes
 
 ### 1️⃣ Start the `tactigon_ros` Nodes
-#### `tactigon_data` - Publishes Tactigon data
+#### `tactigon_data` - Publishes Tactigon data 
+This node handles the connection with the Tactigon Skin and publishes a message with the current state on the "/tactigon_state" topic.
+
+Before running this node it is neccesary to modify `TSKIN_MAC = "C0:83:35:34:28:38"` with your own Tactigon Skin MAC address. 
 ```bash
 ros2 run tactigon_ros tactigon_data
 ```
 #### `tactigon_logger` - Logs sensor data
+This node outputs a CSV file with the logged data of the tactigon. Has to be runned in parallel to the tactigon_data node.
 ```bash
 ros2 run tactigon_ros tactigon_logger
 ```
 #### `tactigon_turtlesim_controller` - Controls Turtlesim via gestures
+This node is a simple demo. The node maps certain Tactigon gestures to the control inputs of the turtlebot 2D simulation. Note: run this two nodes in different terminals in parallel. 
 ```bash
 ros2 run turtlesim turtlesim_node
+```
+```bash
 ros2 run tactigon_ros tactigon_turtlesim_controller
 ```
 
 ### 2️⃣ Check Topics
-Verify the nodes are publishing correctly:
+At any point you it is possible to verify if the nodes are publishing correctly:
 ```bash
 ros2 topic list
 ```
 Expected output:
 ```
-/tactigon/state
-/tactigon/log
+/tactigon_state
 /turtle1/cmd_vel
 ```