Added how to run and how to install sections to README and some pre-fix

README.md

@@ -1 +1,33 @@
 # moveit_middleware_benchmark
+
+Under Construction
+
+## How To Install
+
+
+```sh
+source /opt/ros/rolling/setup.bash
+sudo apt install python3-colcon-common-extensions
+sudo apt install python3-colcon-mixin
+colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+colcon mixin update default
+mkdir ws/src -p
+cd ws/src
+git clone [email protected]:CihatAltiparmak/moveit_middleware_benchmark.git -b fix/refactor_codebase
+vsc import moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive
+cd ws
+sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
+colcon build --mixin release
+```
+
+## How To Run
+
+```sh
+source /opt/ros/rolling/setup.bash
+source install/setup.bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp # select your rmw_implementation to benchmark
+ros2 launch moveit_middleware_benchmark test_scenario_perception_pipeline.launch.py
+
+```
+
+It will be created the json file for benchmarking results after finishing benchmark code execution.

config/test_scenario_perception_pipeline.yaml

@@ -70,4 +70,4 @@ test_cases:
           y: -0.5
           z: 0.7
         orientation:
-          w: 1.0
+          w: 1.0