Add proper README for AirStack (#249)

* Separate repo readme from homepage

* Add comprehensive beginner-friendly README

* Remove Related Projects section from README

* Update README title to 'AirStack: Democratizing Intelligent Mobile Robotics'

* Update README to focus on embodied AI and mobile robotics instead of aerial robots

* Use color logo for readme

---------

Co-authored-by: openhands <[email protected]>

Author: andrewjong

README.md

@@ -0,0 +1,161 @@
+# AirStack: Democratizing Intelligent Mobile Robotics
+
+<div align="center">
+  <img src="docs/assets/logo_horizontal_color.png" alt="AirStack Logo" width="400"/>
+</div>
+
+AirStack is a comprehensive, modular autonomy stack for embodied AI and robotics developed by the [AirLab](https://theairlab.org) at Carnegie Mellon University's Robotics Institute. It provides a complete framework for developing, testing, and deploying autonomous mobile systems in both simulated and real-world environments.
+
+[![GitHub](https://img.shields.io/github/license/castacks/AirStack)](https://github.com/castacks/AirStack/blob/main/LICENSE)
+[![Documentation](https://img.shields.io/badge/docs-mkdocs-blue)](https://docs.theairlab.org/docs/)
+
+## 🚀 Features
+
+- **Modular Architecture**: Easily swap out components to customize for your specific needs
+- **ROS 2 Integration**: Built on ROS 2 for robust inter-process communication
+- **Simulation Support**: Integrated with NVIDIA Isaac Sim for high-fidelity simulation
+- **Multi-Robot Capability**: Control and coordinate multiple robots simultaneously
+- **Ground Control Station**: Monitor and control robots through an intuitive interface
+- **Comprehensive Autonomy Stack**:
+  - Robot Interface Layer
+  - Sensor Integration
+  - Perception Systems
+  - Local Planning & Control
+  - Global Planning
+  - Behavior Management
+
+## 📋 System Requirements
+
+- **Docker**: With NVIDIA Container Toolkit support
+- **NVIDIA GPU**: RTX 3070 or better (for local Isaac Sim)
+- **Storage**: At least 25GB free space for Docker images
+- **OS**: Ubuntu 22.04 recommended
+
+## 🔧 Quick Start
+
+### 1. Clone the Repository
+
+```bash
+git clone --recursive -j8 [email protected]:castacks/AirStack.git
+cd AirStack
+```
+
+### 2. Install Docker with NVIDIA Support
+
+Follow [NVIDIA's instructions](https://docs.nvidia.com/ai-enterprise/deployment/vmware/latest/docker.html) for installing Docker with NVIDIA GPU support. Make sure `docker-compose-plugin` is also installed.
+
+### 3. Configure the Repository
+
+```bash
+./configure.sh
+```
+
+Follow the prompts to complete the initial configuration.
+
+### 4. Get the Docker Images
+
+#### Option 1: Pull from AirLab Registry (Preferred)
+
+```bash
+docker login airlab-storage.andrew.cmu.edu:5001
+# Enter your andrew id (without @andrew.cmu.edu)
+# Enter your andrew password
+
+# Pull the images in the docker compose file
+docker compose pull
+```
+
+#### Option 2: Build Docker Images From Scratch
+
+```bash
+# Download the Ascent Spirit SITL software package
+bash simulation/isaac-sim/installation/download_sitl.bash
+
+# Build the images locally (requires NVIDIA NGC access)
+docker compose build
+```
+
+### 5. Launch the System
+
+```bash
+xhost +  # allow docker access to X-Server
+
+# Start docker compose services
+docker compose up -d
+# For multiple robots: docker compose up -d --scale robot=3
+```
+
+This will automatically launch and play the Isaac Sim scene specified in the `.env` file.
+
+### 6. Control the Robot
+
+Find the RQT GUI window:
+1. Click "Arm and Takeoff"
+2. Click "Global Plan" in the trajectory window
+
+You can also switch to "Fixed Trajectory" mode and click "Publish" to follow a predefined trajectory.
+
+### 7. Shutdown
+
+```bash
+docker compose down
+```
+
+## 🏗️ System Architecture
+
+AirStack follows a layered architecture approach:
+
+```
+Robot
+├── Interface Layer: Communication with robot controllers
+├── Sensors Layer: Data acquisition from various sensors
+├── Perception Layer: State estimation and environment understanding
+├── Local Layer: 
+│   ├── World Model: Local environment representation
+│   ├── Planning: Trajectory generation and obstacle avoidance
+│   └── Controls: Trajectory following
+├── Global Layer:
+│   ├── World Model: Global environment mapping
+│   └── Planning: Mission-level path planning
+└── Behavior Layer: High-level decision making
+```
+
+## 📁 Repository Structure
+
+- `robot/`: Contains the ROS 2 workspace for the robot autonomy stack
+- `ground_control_station/`: Software for monitoring and controlling robots
+- `simulation/`: Integration with Isaac Sim and simulation environments
+- `docs/`: Comprehensive documentation
+- `common/`: Shared libraries and utilities
+- `tests/`: Testing infrastructure
+
+## 🧪 Development
+
+AirStack is designed with modularity in mind, making it straightforward to extend or replace components. The development workflow is centered around Docker containers for consistent environments.
+
+For detailed development guidelines, see the [Developer Guide](https://docs.theairlab.org/docs/development/).
+
+## 📚 Documentation
+
+Comprehensive documentation is available at [https://docs.theairlab.org/docs/](https://docs.theairlab.org/docs/)
+
+The documentation covers:
+- Getting started guides
+- Development workflows
+- Component descriptions
+- API references
+- Simulation setup
+- Real-world deployment
+
+## 🤝 Contributing
+
+We welcome contributions to AirStack! Please see our [Contributing Guidelines](https://docs.theairlab.org/docs/development/contributing/) for more information.
+
+## 📄 License
+
+AirStack is licensed under the Apache 2.0 or MIT license (to be finalized).
+
+
+## 📧 Contact
+
+For questions or support, please contact the AirLab team at [theairlab.org](https://theairlab.org).

README.md

@@ -43,7 +43,7 @@ markdown_extensions:
   - toc:
       permalink: true
 nav:
-  - Home: docs/README.md
+  - Home: docs/index.md
   - Getting Started: docs/getting_started.md
   - Development:
       - docs/development/index.md