Update README.md

README.md

+# Adapter Packages
 
+## Inhalt
+
+- adapter_package: Beispiel Anwednung zur Nutzung von Planning Request Adapters
+- safety_planning_request_adapters: Package für Planning Request Adapter Plugins
+    - add_safety.cpp: Planning Request Adapter Plugins
+
+## Einrichtung
+
+1. Wenn nicht vorhanden, dann Einrichtung eines ROS Workspaces: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
+2. Clonen bzw. kopieren von adapter_pkgs in den ROS Workspace.
+3. Registrierung des Planning Request Adapter Plugins in der .launch File. Beispiel ompl_planning_pipeline.launch.xml:
+```
+  <arg name="planning_adapters" default="
+       safety_planning_request_adapters/AddSafety
+       default_planner_request_adapters/FixWorkspaceBounds
+       default_planner_request_adapters/FixStartStateBounds
+       default_planner_request_adapters/FixStartStateCollision
+       default_planner_request_adapters/FixStartStatePathConstraints
+       default_planner_request_adapters/AddTimeParameterization"
+       />
+  <!-- default_planner_request_adapters/ResolveConstraintFrames -->
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+```
+4. Bauen des ROS Workspaces.