Updated the instructions

ReadMe.txt

@@ -2,6 +2,17 @@ Run Instructions
 
 version: MATLAB R2022a
 
+How to Run:
 1. Download 'example_synced.bag' from RELLIS-3D Github to your computer.
-2. (line 5) Set the filepath to the location of the saved .bag file.
-3. If you want to change costmap values, see Line 101.
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+2. Open PerceptionNodeV2.mat
+3. (line 5) Set the filepath to the location of the saved .bag file.
+4. Save and run.
+
+Set Parameters (optional)
+1. To change costmap values, see Line 101.
+2. To change sensor positioning (eg. Z-axis, center point, radius, etc.), see Lines 56-57, 68.
+3. There are 2 implementations of the cost map:
+(a) The occupancy grid (contour output)
+(b) The cost map (square block grid output)
+- Default is (a) found in Lines 111-163. Feel free to comment those lines to supress (a)
+- To run (b), uncomment 165-235
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