Add usage guide to README #43
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Hi! I find your ros package very helpful, but it took me a long time to figure out how to use it. So I add a guide to your documentation so that new users can (hopefully) not be as clueless as I was.
I tested this guide on noetic and melodic ros and they both work. Feel free to tell me if something is not right.
Love your package. Thanks for the contribution ;)
Credit to florianspy, legendary. This guide is largely based on his orientation in the issue #7.