Add usage instructions

Author: benjaminwp18

README.md

@@ -5,8 +5,8 @@
 A ROS2 package for bridging between MQTT and ROS networks
 
 ## Installation
-### Operating System
-ROS2 is pretty tightly coupled to Ubuntu versions. `mqtt_ros_bridge` supports ROS2 Iron Irwini and Humble Hawksbill. Pick a [version](https://docs.ros.org/en/rolling/Releases.html) that works with your OS.
+### Operating System and ROS2
+ROS2 is pretty tightly coupled to Ubuntu versions. `mqtt_ros_bridge` supports ROS2 Iron Irwini. Use [this guide](https://docs.ros.org/en/iron/Installation.html) to pick an OS and install Iron.
 
 ### MQTT
 Install an MQTT broker like [Mosquitto](https://mosquitto.org/).
@@ -30,6 +30,41 @@ you@ubuntu:~ $ service mosquitto status
            └─5390 /usr/sbin/mosquitto -c /etc/mosquitto/mosquitto.conf
 ```
 
+### Setting up a Workspace
+Create a ROS workspace and clone the repo.
+
+```bash
+mkdir -p workspace/src
+cd workspace/src
+git clone https://github.com/benjaminwp18/mqtt_ros_bridge.git
+```
+
+### Running the Bridge
+Build and source the package from your workspace (`workspace`, not `workspace/src`). You may see `EasyInstallDeprecationWarning: easy_install command is deprecated`, but that can be ignored as long as the package doesn't say "failed".
+
+```bash
+colcon build --symlink-install
+. install/setup.sh
+```
+
+Now start the demo by running these commands in two separate terminals:
+```bash
+ros2 launch mqtt_ros_bridge demo_pub_launch.py
+```
+```bash
+ros2 launch mqtt_ros_bridge demo_sub_launch.py
+```
+
+Or launch the bridge in your own launch file with:
+```python
+config = os.path.join(
+   get_package_share_directory('mqtt_ros_bridge'),
+   'config',
+   'your_config_file.yaml'
+)
+```
+
+
 ## TODO
  - ROS services
  - ROS actions