Update README.md

Author: ErfanRzt

README.md

@@ -1,11 +1,101 @@
-# LMR Simulation
+# LENNA Mobile Robot Simulation
 
-## Interactive URDF Viewer
+<p align="center">
+  <img src="docs/media/lmr1_simulation.png" alt="LMR1 Simulation" width="900">
+</p>
 
-🌐 https://lenna-robotics-research-lab.github.io/LMR1-Simulation/
+<p align="center">
+  <a href="https://lenna-robotics-research-lab.github.io/LMR1-Simulation/">
+    <img src="https://img.shields.io/badge/Interactive%20URDF-Open%20Viewer-blue?style=for-the-badge" alt="Interactive URDF Viewer">
+  </a>
+</p>
 
-Explore the robot model directly in your browser:
-- Orbit camera
-- Joint manipulation
-- TF visualization
-- Link highlighting
+## Robot Overview
+
+LMR1 is a differential-drive mobile robot platform intended for research and education in:
+
+- Autonomous navigation
+- Mapping and localization
+- Robot intelligence
+- Decision making
+- Control systems
+
+The repository maintains equivalent ROS1 and ROS2 implementations to support both legacy and modern robotics workflows.
+
+## Repository Structure
+
+```mermaid
+flowchart TD
+
+    A[LMR Simulation]
+
+    A --> B[lmr1_description]
+    A --> C[lmr2_description]
+    A --> D[web_viewer]
+    A --> E[docs]
+
+    B --> B1[launch]
+    B --> B2[meshes]
+    B --> B3[urdf]
+    B --> B4[CMakeLists.txt]
+    B --> B5[package.xml]
+
+    D --> D1[public]
+    D --> D2[index.html]
+    D --> D3[main.js]
+    D --> D4[package.json]
+    D --> D5[vite.config.js]
+
+    E --> E1[media]
+```
+
+
+<table>
+<tr>
+<td width="50%" valign="top">
+
+### ROS1 (Noetic)
+
+The ROS1 version provides a complete simulation environment for the LMR1 platform using the ROS Noetic/Melodic ecosystem.
+
+#### Features
+
+- Differential-drive mobile robot
+- URDF/Xacro robot description
+- Gazebo simulation
+- RViz visualization
+- SLAM Toolbox integration
+- AMCL localization
+- Navigation Stack support
+
+#### Quick Start
+
+```bash
+catkin_make
+source devel/setup.bash
+roslaunch lmr1_gazebo simulation.launch
+```
+
+</td>
+<td width="50%" valign="top">
+
+### ROS2 (Humble)
+
+The ROS2 version provides a modern simulation environment built on the ROS2 ecosystem and contemporary robotics workflows.
+
+#### Quick Start
+
+```bash
+colcon build
+source install/setup.bash
+ros2 launch lmr1_gazebo simulation.launch.py
+```
+
+</td>
+</tr>
+</table>
+
+
+## License
+
+Specify your license here.