Add explanations to generate the tests.

README.md

@@ -7,3 +7,47 @@ dynamic-graph bindings
 
 This ROS package binds together the ROS framework with the
 dynamic-graph real-time control architecture.
+
+
+## ROS 2
+
+### Introduction
+
+To use this package you need to be in a ROS 2 workspace.
+
+If you did not have one, you should first create it :
+```
+mkdir -p sot_ws/src
+cd sot_ws/src
+```
+###
+
+### Compile and Install
+
+To build this package after installing all the dependencies:
+```
+cd sot_ws
+colcon build --merge-install --packages-select dynamic_graph_bridge
+```
+
+### Test
+
+To test it:
+```
+colcon test --packages-select dynamic_graph_bridge
+```
+
+This command should create a directory in the ````log```` directory:
+```
+test_dateoftoday
+```
+
+Inside this directory there is another directory called ````dynamic_graph_bridge````
+
+In this directory the file ```stdout_stderr.log``` contains the results of the tests.
+
+If one of the test failed you will see the output in this specific file.
+To summarize, if you are at the root of your worspace, the file is located here:
+```
+./log/test_dateoftoday/dynamic_graph_bridge/stdout_stderr.log
+```