From 333da584df7c234fcd6a7fd8f21834c8027dbaeb Mon Sep 17 00:00:00 2001
From: devel <klaxalk@gmail.com>
Date: Tue, 10 Oct 2023 16:59:11 +0200
Subject: [PATCH] updated workflows, updated readme

---
 .github/workflows/ros_build_test.yml    | 25 +++++++++++++++
 .github/workflows/ros_package_build.yml |  3 ++
 README.md                               | 41 +++++++++++++++++++++++++
 3 files changed, 69 insertions(+)
 create mode 100644 .github/workflows/ros_build_test.yml

diff --git a/.github/workflows/ros_build_test.yml b/.github/workflows/ros_build_test.yml
new file mode 100644
index 0000000..28768ce
--- /dev/null
+++ b/.github/workflows/ros_build_test.yml
@@ -0,0 +1,25 @@
+name: ros_build_test
+
+on:
+
+  push:
+    branches: [ devel ]
+
+    paths-ignore:
+      - '**/README.md'
+
+    pull_request:
+      branches: [ master ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_build_test.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
diff --git a/.github/workflows/ros_package_build.yml b/.github/workflows/ros_package_build.yml
index 7bc52be..d17da2a 100644
--- a/.github/workflows/ros_package_build.yml
+++ b/.github/workflows/ros_package_build.yml
@@ -5,6 +5,9 @@ on:
   push:
     branches: [ master ]
 
+    paths-ignore:
+      - '**/README.md'
+
   workflow_dispatch:
 
 concurrency:
diff --git a/README.md b/README.md
index 814045f..d4355b5 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,42 @@
 # MRS UAV HW API
+
+An abstraction layer between the [MRS UAV System](https://github.com/ctu-mrs/mrs_uav_system) and a UAV flight controller.
+
+> :warning: **Attention please: This README is needs work.**
+>
+> The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.
+
+## What does it do?
+
+This nodes provides an interface between any UAV flight controller and the [core](https://github.com/ctu-mrs/mrs_uav_core) of the MRS UAV System.
+On one side, the HW API provides a unified ROS interfaces for the [core](https://github.com/ctu-mrs/mrs_uav_core) as if it was a **generic flight controller**.
+On the other side, the communication with a particular hardware (or simulator) can be orchestrated using whatever is required.
+
+## Implementation
+
+TODO
+
+### Control output from the MRS UAV System
+
+The control output can be any of the following:
+
+* 3D **Position** + **Heading**
+* 3D body-frame **Velocity** + **Heading**
+* 3D body-frame **Velocity** + **Heading rate**
+* 3D body-frame **Acceleration** + **Heading**
+* 3D body-frame **Acceleration** + **Heading rate**
+* 3D world-frame **Attitude** + **Throttle**
+* body-frame **Attitude rate** + **Throttle**
+* **Control groups**
+* individual **Actuators'** throttle
+
+### Data provided to the MRS UAV System
+
+TODO
+
+## Example HW API Plugins
+
+* [PX4 Plugin](https://github.com/ctu-mrs/mrs_uav_px4_api)
+* [CoppeliaSim Plugin](https://github.com/ctu-mrs/mrs_uav_coppelia_simulation)
+* [MRS Simulator Plugin](https://github.com/ctu-mrs/mrs_multirotor_simulator)
+* [DJI Tello](https://github.com/ctu-mrs/mrs_uav_dji_tello_api)