readme update

README.md

@@ -3,4 +3,62 @@
 # RoboQualityController
 
 Main controller of the Robo Quality project. This should controll all the services via the clients of the sumodules.
-Also all common conversions from ROS2 interfaces to Python and Disk are included.
\ No newline at end of file
+Also all common conversions from ROS2 interfaces to Python and Disk are included.
+
+# Example Workflow
+
+In this example all service nodes are started as `echo´s` (dummies). The workflow class connects to the standard services and calls them. The main idea is to replaces the service calls with "real" implemenataions / functionalities but keep the client calls for the workflow the same to keep testing and integrating easy independet of the systems. 
+
+
+## Start Service nodes
+
+Start the service nodes in a first console.
+
+```powershell
+C:\dev\ros2_humble\setup.ps1
+C:\dev\rq_workflow\install\setup.ps1
+ros2 launch C:\dev\rq_workflow\launch\echo_launch.py
+```
+
+## Run script
+
+The following script can be found [here](https://mygit.th-deg.de/roboct/robo_quality/rq_controller/-/blob/main/rq_controller/rq_workflow.py?ref_type=heads#L80). Source ROS 2 in a second console:
+
+
+```powershell
+C:\dev\ros2_humble\setup.ps1
+C:\dev\rq_workflow\install\setup.ps1
+ros2 launch C:\dev\rq_workflow\launch\echo_launch.py
+```
+Run script / file from the second console:
+
+```python
+# Initialize workflow
+from rq_controller.rq_workflow import WorkflowNode
+
+workflow = WorkflowNode()
+
+# Aquire some scout views
+projection_list = list()
+for i in range(5):
+    print(f' - At projection {i}')
+    scan_pose = PyProjection.dummy()
+    scan_pose.focal_spot_mm += i
+    projection_list.append(workflow.aquire_projection(scan_pose))
+
+# Detect errors in scout views 
+roi = workflow.defect_detection(projection_list)
+
+# Init traj opt
+workflow.trajectory_initialize(roi)
+
+# Get next scan pose from traj opt
+next_scan_pose, finished = workflow.trajectory_update(projection_list[-1])
+
+# Aquire scan pose
+projection_list.append(workflow.aquire_projection(next_scan_pose))
+
+# Resconstruct projections
+volume = workflow.get_volume(projection_list, roi[0])
+```
+