Updates readme. (#80)

Signed-off-by: Franco Cipollone <[email protected]>

README.md

@@ -1,7 +1,7 @@
 # Andino Gazebo Simulation
 
 
-<img src="./docs/media/andino_gz.png" width="800"/>
+<img src="./docs/media/populated_office_1.png" width="800"/>
 
 ## :clipboard: Description
 
@@ -47,13 +47,16 @@ source install/setup.bash
 
 ### Andino simulation
 
+<img src="./docs/media/andino_gz.png" width="800"/>
+
+
 Once the package is built and sourced, you can start a simulation.
 
   ```sh
   ros2 launch andino_gz andino_gz.launch.py
   ```
 
-_Note: You can use `--world_name` flag to indicate other [world](andino_gz/worlds/) to use. (For example: `depot.sdf`(default), `office.sdf`, `empty.sdf`)_
+_Note: You can use `world_name` flag to indicate other [world](andino_gz/worlds/) to use. (For example: `depot.sdf`(default), `office.sdf`, `populated_office.sdf`, `empty.sdf`)_
 
 By default the ros bridge and rviz are initialized. In case you prefer to disable any of those you can do it via its flags:
 
@@ -66,6 +69,14 @@ To see a complete list of available arguments for the launch file do:
   ros2 launch andino_gz andino_gz.launch.py --show-args
   ```
 
+Using a different world:
+  ```sh
+  ros2 launch andino_gz andino_gz.launch.py world_name:=populated_office.sdf
+  ```
+
+<img src="./docs/media/populated_office_2.png" width="800"/>
+
+
 Make sure to review the required topics using `ign topics` and `ros2 topic` CLI tools.
 Also, consider using looking at the translation entries under `andino_gz/config/bridge_config.yaml`.
 
@@ -121,6 +132,19 @@ Also, consider using looking at the translation entries under `andino_gz/config/
 
     Once Gazebo window pops up, play the simulation using the gui.
 
+    **Important!**:
+      -  When using `nav2` flag, the `map` must match the selected `world`. For example:
+         -  For `depot.sdf` world, the map need to be `depot`:
+            ```
+            ros2 launch andino_gz andino_gz.launch.py nav2:=True world_name:=depot.sdf map:=depot
+            ```
+            Typically, as this is the default world-map, there is no need to indicate them.
+         -  For `office.sdf` and `populated_office.sdf` worlds, the map need to be `office`:
+            ```
+            ros2 launch andino_gz andino_gz.launch.py nav2:=True world_name:=office.sdf map:=office
+            ```
+
+
 2. An RViz window will be spawned for each robot so it can be controlled independently. Use `2D Pose Estimate` to pass a hint to AMCL where is the initial point
 
     Note you have to do it per robot, namely, per RViz window.