Update README.md

Author: bharadwaj-chukkala

README.md

@@ -1,2 +1,65 @@
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+---
 # ROS2 Publisher and Subscriber
 
+## Overview
+
+A Package built using ```colcon``` build as a part of ROS2 Tutorials. It contains the implementation of a Talker and a Listener node.
+
+## Contents
+.
+├── include
+│   └── beginner_tutorials
+|      ├── publisher_function.hpp
+│      └── subscriber_function.hpp
+├── package.xml
+├── CMakeLists.txt
+├── README.md
+└── src
+    ├── publisher_member_function.cpp
+    └── subscriber_member_function.cpp
+
+## Instructions to Build the Package
+```
+cd <path-to-ROS2-workspace>/ros2_ws/src
+git clone https://github.com/bharadwaj-chukkala/beginner_tutorials.git
+cd ..  
+rosdep install -i --from-path src --rosdistro humble -y
+colcon build --packages-select beginner_tutorials
+```
+
+## Run Instructions
+
+### Run the Publisher 
+In a new terminal, navigate to your ROS2 workspace (```ros2_ws```) and source the setup files,
+```
+cd <path-to-ROS2-workspace>/ros2_ws
+. install/setup.bash
+ros2 run beginner_tutorials talker
+```
+
+### Run the Subscriber
+In another terminal, navigate to your ROS2 workspace (```ros2_ws```) and source the setup files,
+```
+cd <path-to-ROS2-workspace>/ros2_ws
+. install/setup.bash
+ros2 run beginner_tutorials listener
+```
+
+Enter ```Ctrl+c``` in each terminal to stop the nodes from spinning.
+
+## Results
+
+### cpplint 
+Change to the root directory of the package, ```/beginner_tutorials```, and run:
+```
+cpplint --filter=-build/c++11,+build/c++17,-build/namespaces,-build/include_order ./src/*.cpp ./include/beginner_tutorials/*.hpp > ./results/cpplint.txt
+```
+The results of running ```cpplint``` can be found in ```/results/cpplint.txt```.
+
+### cppcheck
+Change to the root directory of the package, ```/beginner_tutorials```, and run:
+```
+cppcheck --enable=all --std=c++17 ./src/*.cpp ./include/beginner_tutorials/*.hpp --suppress=missingIncludeSystem --suppress=unmatchedSuppression --suppress=unusedFunction --suppress=missingInclude --suppress=useInitializationList > results/cppcheck.txt
+```
+The results of running ```cppcheck``` can be found in ```/results/cppcheck.txt```.