Added initial README

robopilotsim/README.md

+ROBOPILOT -- MORSE simulation prototype
+=======================================
+
+![Screenshot of the simulation](media/screenshot1.jpg)
+
+This repository contains an early prototype of a [MORSE-based simulation](http://morse-simulator.github.io/) for the
+ROBOPILOT project.
+
+Structure
+---------
+
+The ROBOPILOT van is defined in
+[van.blend](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/data/robopilotsim/robots/van.blend) (for the physical appearance + physics properties), in [builder/robots/van.py](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/src/robopilotsim/builder/robots/van.py) (for the configuration of sensors and actuators), and in [robots/van.py](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/src/robopilotsim/robots/van.py) (for the in-simulation behaviour -- mostly empty for now).
+
+Depending on the MORSE's sensors (like the [semantic camera
+sensor](http://www.openrobots.org/morse/doc/latest/user/sensors/semantic_camera.html)
+used
+[here](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/src/robopilotsim/builder/robots/van.py#L34))
+and actuators (like the [`MotionVW` actuator] used
+[here](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/src/robopilotsim/builder/robots/van.py#L21)
+used on the van, MORSE makes it possible to control the van at different levels
+of abstraction.
+
+Other vehicles in the simulation (bikes, cars) are modelled as independent
+robots (cf the [Vehicle type](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/src/robopilotsim/builder/robots/vehicle.py)). They can be controlled externally (cf below).
+
+
+Running the simulation
+----------------------
+
+
+The simulation is entierly contained in this repository. To launch it, install
+MORSE (on Ubuntu Linux/Debian, `sudo apt install morse-simulator`), clone this
+repository, and run `morse run default.py` from within the repository.
+
+Interfacing with MORSE
+----------------------
+
+External *clients* of the simulator can interact with each of the simulated
+entities (the ROBOPILOT van, obviously, but also all the other vehicles in the
+simulation).
+
+In this early prototype, the default interface is using raw sockets. MORSE
+provides a convenient python wrapper (`pymorse`) on top of the sockets to make
+it easy to communicate with the simulation (note that, while MORSE is mostly a
+Linux/macOS tool, `pymorse` runs happily on Windows: you can have the simulator
+running on a Linux machine, and communicate with the simulator using `pymorse`
+from a Windows machine).
+
+Examples of `pymorse` usage are [available online](https://www.openrobots.org/morse/doc/stable/pymorse.html).
+
+One example of a very simple client to control a bike is available in [scripts/](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/scripts/bikes_agent.py)