Revise README for custom Franka ROS controllers (#21)

* Revise README for custom Franka ROS controllers

Updated README to reflect custom ROS controllers for Franka arm, including installation and usage instructions.

* Remove old conda files

Author: singhbal-baljinder

.github/workflows/conda-ci.yaml

@@ -10,9 +10,7 @@ env:
     # flag to enable the cache saving
     action-save-cache: 'true'
     # define conda-installed dependencies in a file to use it's hash in the cache key
-    CONDA_DEPS_FILE_NAME: 'conda_env_no_builds.yml' 
-    # artifacts retention days
-    ARTIFACTS_RETENTION_DAYS: 5
+    CONDA_DEPS_FILE_NAME: 'environment.yml'
 
 jobs:
     build:

README.md

@@ -1 +1,20 @@
-# Test repository to collect the code of a the implementation of a dynamical system controller for the Franka robot using `franka_ros` (ROS Noetic)
+# Custum ROS (Noetic) controllers for a Franka arm
+In this repo I have implemented two custum controllers:
+- `my_cartesian_position_controller`: a task space controller using the inverse kinematics porposed in https://github.com/ffall007/franka_analytical_ik/tree/main.
+- `my_cartesian_impedance_controller`: an impedance controller with variable parameters that can be set from another node. Additionally, it allows the user to perform a perturbation in the robot null space.
+
+# :clipboard: Installation
+- Install [conda](https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html).
+- Create an environment using the `environment.yml`:
+```
+conda env create -f <path-to-repo>/environment.yml
+```
+- Use [catkin](https://wiki.ros.org/catkin/conceptual_overview#Overview) to install the package in the [ROS workspace](https://wiki.ros.org/catkin/Tutorials/create_a_workspace):
+  ```
+  cd <ros-noetic-ws>
+  catkin_make install
+  ```
+
+# :bicyclist: Usage
+A simple way to use the controllers is by using the `franka_gazebo` package. For example:
+- `roslaunch my_franka_controllers panda_with_my_controllers.launch controller:=my_cartesian_impedance_controller`