Update README.md

README.md

@@ -1,10 +1,25 @@
 # gnss_compass_ros
 
-ROS1 Package with two gnss receivers to calculate position and orientation.
+ROS1 Package to calculate position and orientation using two gnss receivers .
 
 Note.)
 RTK positioning is required for each GNSS receiver.
+In the standard configuration, pose is only published when two antennas are in RTK-FIX..
 
 ```
-roslaunch launch/all.launch
+roslaunch gnss_compass gnss_compass.launch
 ```
+
+## pubsub
+
+- input  
+/main/mosaic/gga  (nmea_msgs/Gpgga)  
+/sub/mosaic/gga  (nmea_msgs/Gpgga)  
+/tf_static(from "base_link" to main gnss's frame)  
+
+- output  
+/gnss_compass_pose (geometry_msgs/PoseStamped)  
+/gnss_compass_odom  (nav_msgs/Odometry)  
+/illigal_gnss_compass_odom  (nav_msgs/Odometry) 
+/diagnostics  ([diagnostic_msgs/DiagnosticArray)  
+/tf(from "map" to "base_link")