Update readme

F

Author: Jaeyoung-Lim

README.md

@@ -7,6 +7,8 @@
 This package includes an implementation of the RA-L submission of  "Safe Low-Altitude Navigation in Steep Terrain with Fixed-Wing Aerial Vehicles".
 The implementation includes a global planner based on a RRT* in the Dubins Airplane space enabling low altitude navigation for fixed wing vehicles in steep terrain.
 
+This repository is a ROS 2 port of the original implementation in [terrain-navigation](https://github.com/ethz-asl/terrain-navigation)
+
 <p align="center">
     <img src="https://github.com/ethz-asl/terrain-navigation/assets/5248102/90e43b60-ea8c-49db-9fb3-257b145fc35c" alt="overview">
 </p>
@@ -57,6 +59,17 @@ Next, run the image, mounting in the source into a workspace. All the dependenci
 docker run --network=host -it -v $(pwd):/root/ros2_ws/src/ethz-asl/terrain-navigation -w /root/ros2_ws terrain-navigation-ros2 bash
 ```
 
+## Running an example of the planner
+In order to run the examples, build the `terrain_planner_benchmark` package.
+```
+colcon build --packages-up-to terrain_planner_benchmark
+```
+Run a simple planning example:
+```
+ros2 launch terrain_planner_benchmark test_ompl_rrt_circle_launch.xml 
+```
+
+
 ### Running the Build
 
 For dependencies that do not have binaries available, pull them into your ROS workspace using vcs.