Add README.md

Author: jinkunw

README.md

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+# VideoRay ROS Packages
+
+The ROS repository for VideoRay was originally forked from [HumAnS Lab ROS Repository](https://github.com/gt-ros-pkg/humans). Now it supports Tritech Micron sonar and USBL.
+
+# Build
+
+```
+mkdir -p videoray/src
+cd videoray/src
+catkin_init_workspace
+git clone git@bitbucket.org:stevens-rfal/videoray.git
+cd ..
+catkin_make
+
+source devel/setup.sh
+```
+
+# Published Topics
+
+1. `/videoray_control/pose`: `geometry_msgs/PoseStamped`
+2. `/videoray_control/accelerations`: `geometry_msgs/TwistStamped`
+3. `/videoray_control/throttle_cmd`: `videoray_control/Throttle`
+4. `/videoray_sonar/sonarscan`: `sensor_msgs/PointCloud2`
+5. `/videoray_usbl/usbl_pose`: `geometry_msgs/PoseStamped`
+
+# Subscribed Topics
+
+1. `/videoray_input/joystick`: `sensor_msgs/Joy`
+2. `/videoray_input/throttle`: `videoray_control/Throttle`
+3. `/videoray_input/desired_trajectory`: `videoray_control/DesiredTrajectory`
+4. `/videoray_sonar/valid` `std_msgs/Bool`