Merge pull request ros-industrial-attic#27 from LorenzBung/improve-do…

…cumentation

Improve documentation

README.md

@@ -19,3 +19,26 @@ After re-sourcing the workspace, start the demo from the provided launch file:
 ```
 roslaunch yak_ros demo.launch
 ```
+
+
+## Usage
+
+The yak_ros node provides 3 services and is a subscriber to 2 topics, which can be used to interact with it.
+
+
+#### Topics
+
+1. `/yak_ros/input_depth_image`: Listener for published depth images.
+2. `/yak_ros/input_point_cloud`: Listener for published point clouds.
+
+
+#### Services
+
+1. `/yak_ros/generate_mesh`: Used to generate the output mesh to the provided path.
+2. `/yak_ros/reset_tsdf`: Resets the TSDF Volume (= delete all provided depth images / point clouds)
+3. `/yak_ros/update_params`: Used to update the TSDF Volume Params.
+
+
+#### Visualization
+
+A bounding box around the area of the TSDF Volume is published under the `/tsdf_node/visualization_marker` marker and can be viewed in `rviz`.