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Added README.md for composition #598

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Feb 7, 2023
Merged

Added README.md for composition #598

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:heavy_plus_sign: :blue_book: Added slightly elaborated README.md und…
cardboardcode Jan 24, 2023
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:hammer: Elaborated further Run and Verify instructions. Yet to inclu…
cardboardcode Jan 24, 2023
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:hammer: Elaborated further Manual Composition section.
cardboardcode Jan 24, 2023
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:hammer: Elaborated fully README.md in composition ROS2 package.
cardboardcode Jan 24, 2023
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:hammer: Updated README.md further.
cardboardcode Jan 24, 2023
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:hammer: :fire: Updated based on feedback. Removed link to Reference …
cardboardcode Jan 27, 2023
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:hammer: Updated to fix minor typo.
cardboardcode Jan 27, 2023
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:hammer: Updated based on feedback to improve phrasing and formating.
cardboardcode Feb 1, 2023
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:hammer: Updated based on feedback to correct phrasing.
cardboardcode Feb 7, 2023
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7 changes: 5 additions & 2 deletions composition/README.md
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## **What Is This?**
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This demo ...
This demo provides examples on 3 different ways which users could use the **rclcpp_components** API to compose multiple nodes in a single process.
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This ROS 2 package consists of the following nodes:
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Expand Down Expand Up @@ -147,9 +147,12 @@ When executed correctly, strings should be printed to terminal similar to what i

## **FAQ**

WIP
`Q`: Why use Composition?

`A`: Composition provides utilties to manage life cycle for nodes. This provides greater control over the state of a given ROS-based system. The idea of a managed node is to provide a interactable interface which executes to a known life cycle state machine, allowing for higher system transparency and code-agnosticism.
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## **References**

1. [Composing multiple nodes in a single process](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html)
2. [About Composition](https://docs.ros.org/en/rolling/Concepts/About-Composition.html#about-composition)
3. [Node Life Cycle](https://design.ros2.org/articles/node_lifecycle.html)