home.md

 # AgTech 
 ## ROS Interface for harvest automation robots
 
+This project is made up the `hv_bridge` and two demo nodes, `hv_teleop` and `harvey`. The **hv_bridge** node is the ROS communication interface with the hv robots and must be run along with either demo node. This bridge takes ros topics and sends them over a network connection to the hv robot. The data is sent from a python client to a C server, so the data is parsed on the client side by the _struct_ package. The **teleop** node handles remote operation of the wheels, arm and gripper of the hv robot. The **Harvey** node extends the built in follow me functionality, with a basic track back and and pick up pot features.
+
+This project is intended to cover standard communication needs with the robots, however it is also setup to be easily extended to add additional functionality. The robots themselves support almost 4000 message types or [probes](probes) and the system is configured to handle data that is written to the robot at an interval from a ROS subscriber, data that is read from the robot at an interval to a ROS publisher, and data that is written to the robot a single time from a ROS service. 
+
 ### Getting Started
 
+To run this connection with the hv robots a computer that can run ROS Melodic is required, and a network connection to the robot.
+
 For information on how to connect to the robots, configure the project and run the project go to [Setup](setup)
 
 ### Modifying The Connection
 
+This project is intended to be extended if required to gain the full benefits from the hv robots. If you need additional data from the robot follow the simple steps on a fork of the project, or submit the addition to be added to this project.
+
 For information on how to add in a new controller go to [Writers](writer)
 
 For information on how to add in a new sensor interface go to [Readers](reader)
 
+For information on how to add in a new controller go to [ROS Services](ros-services)
+
+If less information is required, the launch files can be modified to only use a subset of the sensors, controllers, and services. running `rosrun hv_bridge main_node -h` will give you the information about the various options.
+
 ### Client
 
 For information on the Client connection go to [Client](client)
\ No newline at end of file