Add launch + install instructions to README

README.md

@@ -13,16 +13,55 @@ High performance ROS 1 and ROS 2 WebSocket bridge using the Foxglove WebSocket p
 
 Live debugging of ROS systems has traditionally relied on running ROS tooling such as rviz. This requires either a GUI and connected peripherals on the robot, or replicating the same ROS environment on a network-connected development machine including the same version of ROS, all custom message definitions, etc. To overcome this limitation and allow remote debugging from web tooling or non-ROS systems, rosbridge was developed. However, rosbridge suffers from performance problems with high frequency topics and/or large messages, and the protocol does not support full visibility into ROS systems such as interacting with parameters or seeing the full graph of publishers and subscribers.
 
-The foxglove_bridge uses the [Foxglove WebSocket protocol](/~https://github.com/foxglove/ws-protocol), a similar protocol to rosbridge but with the ability to support additional schema formats such as ROS 2 `.msg` and ROS 2 `.idl`, parameters, graph introspection, and non-ROS systems. The bridge is written in C++ and designed for high performance with low overhead to minimize the impact to your robot stack.
+The `foxglove_bridge` uses the [Foxglove WebSocket protocol](/~https://github.com/foxglove/ws-protocol), a similar protocol to rosbridge but with the ability to support additional schema formats such as ROS 2 `.msg` and ROS 2 `.idl`, parameters, graph introspection, and non-ROS systems. The bridge is written in C++ and designed for high performance with low overhead to minimize the impact to your robot stack.
 
 ## Installation
 
-ROS packages are available for ROS 1 Melodic and Noetic, and ROS 2 Humble and Rolling. Earlier releases of ROS will not be supported due to API design and/or performance limitations.
+The `foxglove_bridge` package is available for ROS 1 Melodic and Noetic, and ROS 2 Humble and Rolling. Earlier releases of ROS will not be supported due to API design and/or performance limitations. The package can be installed with the following command:
 
-You can also try foxglove_bridge by building from source or running a pre-built Docker container.
+```bash
+$ sudo apt install ros-$ROS_DISTRO-foxglove-bridge
+```
+
+## Running the bridge
+
+To run the bridge node, it is recommended to use the provided launch file:
+
+**ROS 1**
+
+```bash
+$ roslaunch foxglove_bridge foxglove_bridge.launch --screen
+```
+
+**ROS 2**
+
+```bash
+$ ros2 launch foxglove_bridge foxglove_bridge_launch.xml
+```
+
+### Configuration
+
+Parameters are provided to configure the behavior of the bridge. These parameters must be set at initialization through a launch file or the command line, they cannot be modified at runtime.
+
+ * __port__: The TCP port to bind the WebSocket server to. Must be a valid TCP port number, or 0 to use a random port. Defaults to `8765`.
+ * __address__: The host address to bind the WebSocket server to. Defaults to `0.0.0.0`, listening on all interfaces by default. Change this to `127.0.0.1` to only accept connections from the local machine.
+ * __tls__: If `true`, use Transport Layer Security (TLS) for encrypted communication. Defaults to `false`.
+ * __certfile__: Path to the certificate to use for TLS. Required when __tls__ is set to `true`. Defaults to `""`.
+ * __keyfile__: Path to the private key to use for TLS. Required when __tls__ is set to `true`. Defaults to `""`.
+ * __topic_whitelist__: List of regular expressions ([ECMAScript grammar](https://en.cppreference.com/w/cpp/regex/ecmascript)) of whitelisted topic names. Defaults to `[".*"]`.
+ * (ROS 1) __max_update_ms__: The maximum number of milliseconds to wait in between polling `roscore` for new topics, services, or parameters. Defaults to `5000`.
+ * (ROS 2) __num_threads__: The number of threads to use for the ROS node executor. This controls the number of subscriptions that can be processed in parallel. 0 means one thread per CPU core. Defaults to `0`.
+ * (ROS 2) __max_qos_depth__: Maximum depth used for the QoS profile of subscriptions. Defaults to `10`.
+
+
+## Clients
+
+[Foxglove Studio](https://foxglove.dev/studio) connects to `foxglove_bridge` for live robotics visualization.
 
 ### Building from source
 
+You can also try `foxglove_bridge` by building from source or running a pre-built Docker container.
+
 #### Fetch source and install dependencies
 
 ```bash
@@ -60,24 +99,6 @@ docker run --rm -it -v /opt/ros:/opt/ros --net=host ghcr.io/foxglove/noetic-ros1
 docker run --rm -it -v /opt/ros:/opt/ros --net=host ghcr.io/foxglove/humble-ros2-bridge
 ```
 
-## Configuration
-
-Parameters are provided to configure the behavior of the bridge. These parameters must be set at initialization through a launch file or the command line, they cannot be modified at runtime.
-
- * __port__: The TCP port to bind the WebSocket server to. Must be a valid TCP port number, or 0 to use a random port. Defaults to `8765`.
- * __address__: The host address to bind the WebSocket server to. Defaults to `0.0.0.0`, listening on all interfaces by default. Change this to `127.0.0.1` to only accept connections from the local machine.
- * __tls__: If `true`, use Transport Layer Security (TLS) for encrypted communication. Defaults to `false`.
- * __certfile__: Path to the certificate to use for TLS. Required when __tls__ is set to `true`. Defaults to `""`.
- * __keyfile__: Path to the private key to use for TLS. Required when __tls__ is set to `true`. Defaults to `""`.
- * __topic_whitelist__: List of regular expressions ([ECMAScript grammar](https://en.cppreference.com/w/cpp/regex/ecmascript)) of whitelisted topic names. Defaults to `[".*"]`.
- * (ROS 1) __max_update_ms__: The maximum number of milliseconds to wait in between polling `roscore` for new topics, services, or parameters. Defaults to `5000`.
- * (ROS 2) __num_threads__: The number of threads to use for the ROS node executor. This controls the number of subscriptions that can be processed in parallel. 0 means one thread per CPU core. Defaults to `0`.
- * (ROS 2) __max_qos_depth__: Maximum depth used for the QoS profile of subscriptions. Defaults to `10`.
-
-## Clients
-
-[Foxglove Studio](https://foxglove.dev/studio) connects to foxglove_bridge for live robotics visualization.
-
 ## Development
 
 A VSCode container is provided with a dual ROS 1 and ROS 2 installation and
@@ -103,4 +124,4 @@ ros2 bag play -l --clock 100 -s mcap data/nuScenes-v1.0-mini-scene-0061-ros2.mca
 ```
 
 ## License
-foxglove_bridge is released with a MIT license. For full terms and conditions, see the [LICENSE](LICENSE) file.
+`foxglove_bridge` is released with a MIT license. For full terms and conditions, see the [LICENSE](LICENSE) file.