added launch file and updated README

Author: hsd-dev

README.md

@@ -2,7 +2,7 @@
 
 ## Installation
 ```
-$ cd <path/to/workspace/src> git clone -b observers https://github.com/ipa-hsd/rosgraph_monitor/
+$ cd <path/to/workspace/src> git clone -b nav_observer https://github.com/ipa-hsd/rosgraph_monitor/
 $ cd <path/to/workspace/src> git clone -b SoSymPaper https://github.com/ipa-nhg/ros_graph_parser
 $ cd <path/to/workspace>
 $ source /opt/ros/melodic/setup.bash
@@ -32,3 +32,11 @@ For NavModel.
 pip3 install roslibpy
 https://pypi.python.org/pypi/service_identity
 ```
+
+To run the app:
+```
+roslaunch rosbridge_server rosbridge_websocket.launch
+roslaunch rosgraph_monitor demo.launch
+python3 src/rosgraph_monitor/nav_model.py
+rosservice call /load_observer "name: 'NavObserver'"
+```

launch/demo.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node name="turtlesim_node" pkg="turtlesim" type="turtlesim_node" output="screen"/>
+    <node name="teleop" pkg="turtlesim" type="turtle_teleop_key" output="screen"/>
+    <node name="monitor" pkg="rosgraph_monitor" type="monitor" output="screen"/>
+    <node name="radar_driver" pkg="rosgraph_monitor" type="radar_driver" output="screen"/>
+</launch>

srv/PredictAction.srv

@@ -0,0 +1,3 @@
+float32[] sensor_data
+---
+string action