Minor changes promoting clarity

README.md

@@ -2,6 +2,8 @@
 
 This is the beginning of an application of tactile SLAM.
 
-To use & compile, a Linux machine is likely required. This toolchain works: PopOS (an Ubuntu/Debian Distro), GCC & CMake with ROS2 iron installed.
+To use & compile, a Linux machine is likely required. This toolchain works: PopOS (an Ubuntu/Debian Distro), GCC & CMake with ROS2 iron installed and a working ROS2-compatible CoppeliaSim.
 
-This project is a work in progress and this state of the project is not exactly targeted for compatibility. However, compilation can be done in the standard CMake way (i.e. `mkdir bin && cd bin && cmake .. && make && ./ros2_whisker_slam`) or through a "Makefile" (i.e.`make && ./build/release/ros2_whisker_slam`, must be in project root!) which essentially executes the CMake commands. A VSCode configuration is also provided where the standard build and launch options should work (provided the system has the prerequisite ROS2-iron and typical GNU & cmake dev packages and runs Linux). The build and launch configurations use the Makefile script in the project root.
+This project is a work in progress and the current state of the project is perhaps incompatible with a generic system, particularly as a working ROS2-compatible [CoppeliaSim](https://www.coppeliarobotics.com/) is required to run the Coppelia demo scene. The simple-controller node provided by this early prototype is simple enough to work on other ROS2 simulators or even a real robot (perhaps with constants changed...), however it is designed for the provided Coppelia scene (`bubble.ttt`), and Coppelia requires a bit of setup to work with ROS2, see [ROS2 Interface plugin for CoppeliaSim](https://github.com/CoppeliaRobotics/simROS2) and the [official documentation](https://manual.coppeliarobotics.com/en/ros2Tutorial.htm) where much of the provided scene originates from.
+
+However, compilation might be done in the standard CMake way (i.e. `mkdir bin && cd bin && cmake .. && make && ./ros2_whisker_slam`) or through a "Makefile" (i.e.`make && ./build/release/ros2_whisker_slam`, must be in project root before running `make` this way here) which essentially executes the before CMake command. A VSCode configuration is also provided where the standard build and launch options should work (provided the system has the prerequisite ROS2-iron and typical GNU & cmake dev packages and runs Linux). The build and launch configurations use the Makefile script in the project root.

main.cpp

@@ -22,6 +22,10 @@ int main(int argc, char *argv[])
 
 	// init spin and shutdown statements taken from: https://docs.ros.org/en/iron/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html
 	rclcpp::init(argc, argv);
+
+	// Print to regular stdout that the application might be running
+	endl( cout << "Simple controller is likely working now" );
+
 	// rclcpp::spin( std::make_shared<ros2_whisker_slam::SimpleMap>() );
 	// Give ROS2 our node
 	rclcpp::spin( std::make_shared<ros2_whisker_slam::SimpleController>() );

src/simple_controller.hpp

@@ -30,7 +30,7 @@ namespace ros2_whisker_slam
         public:
             // Do all of the setup for our node in a nice and untidy inline constructor,
             // entirely defeating the organisational power provided by objects
-            inline SimpleController() : Node("simple_bubble_sensor_subscriber")
+            inline SimpleController() : Node("simple_controller")
             {
                 // Setup the listener for the simulation time
                 this->simTimeSubscription = this->create_subscription< std_msgs::msg::Float32 >(