Merge branch 'temp' of https://github.com/vortexntnu/vortex-m3-sonar-…

…driver into temp

README.md

@@ -1,2 +1,10 @@
 # vortex-m3-sonar-driver
 A driver for the Kongsberg M3 Sonar
+
+## Specifications
+Requires an onboard CPU running Ubunto 22.04 and a CPU running Windows for the M3 API.
+
+1. Start the M3 API on Windows, and connect to the sonar head.
+2. Edit the parameter file to match the Windows API's ip address and port (defaults to 20001 / 21001). Also choose what ROS2 topic to publish the pointcloud to. The callback_time is given in milliseconds, and decides how often the software will try to get a new image from the API.
+3. Run the M3Publisher file on Ubuntu 22.04 using ROS2.
+