update readme

README.md

@@ -1,5 +1,35 @@
-# ROScopter 
+[![ROS2 CI](https://github.com/rosflight/roscopter/actions/workflows/ros2-ci.yml/badge.svg?branch=main)](https://github.com/rosflight/roscopter/actions/workflows/ros2-ci.yml)
 
-ROScopter development for ROS2 is still under development. Please refer to [the website](https://rosflight.org/) for more information.
+<p align="center">
+  <img src="wiki_resources/ROScopterLogo.png" alt="ROScopter logo" width=500 />
+</p>
 
-If you are coming from ROSplane, you can launch the simulator for a multirotor by replacing all instances of `fixedwing` with `multirotor` in the launching instructions.
+<div align="center">
+    <video autoplay loop src="https://github.com/user-attachments/assets/9037061c-fc99-4d24-8903-e6fc53d9af00">
+</div>
+
+ROScopter is a basic multirotor autopilot build around ROS2 for use with the ROSflight autopilot.
+It is a continuation of the original [ROScopter](https://github.com/byu-magicc/roscopter) project.
+It is built according to the methods published in *Small Unmanned Aircraft: Theory and Practice* by Dr. Randy Beard and Dr. Tim McLain.
+
+## Installation, Descriptions, Usage
+For more information, see the [ROSflight documentation](https://docs.rosflight.org), which contains installation, general descriptions, and tutorials for how to use ROScopter. 
+
+## Quick start (for ROS2 users)
+
+For more detailed instructions, see the documentation link above.
+
+1. Clone this repo into a ROS2 workspace
+2. `colcon build`
+3. Launch autopilot stack with:
+  ```bash
+  ros2 launch roscopter roscopter.launch.py
+  ```
+  or if in sim:
+  ```bash
+  ros2 launch roscopter_sim sim.launch.py
+  ```
+
+## Acknowledgements
+A special thanks is due to the developers of ROScopter v1.0.
+Their work allowed for the project in its current form.