Add README and image

README.md

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 # fake_joint [![Build Status](https://travis-ci.org/tork-a/fake_joint.svg?branch=master)](https://travis-ci.org/tork-a/fake_joint)
+
+## What is this?
+
+This repositry contains the packages for simulating 'fake' (i.e. dummy
+or loop-back) joint driver for the
+[ros_control](https://github.com/ros-controls/ros_control) framework.
+
+## Why we need this?
+
+You may know MoveIt! has own controller manager and
+`moveit_fake_controller` to simulate the robot motion. However, the
+interface and code are different from `ros_control` framework. We have
+experienced our [jog_control](https://github.com/tork-a/jog_control)
+package doesn't work with moveit_fake_controller while it works fine
+with ros_control. One solution is to make 'fake' joint driver for
+ros_control and not to use moveit_fake_controller.
+
+You can simulate the joint controller using gazebo plugin. However,
+sometimes it is overkill for the purpose. Gazebo is rather CPU
+consuming for powerless PC or CI environments. And not all of the
+robot support gazebo model.
+
+When some problems occured, say in MoveIt!, it could be difficult to
+know whether the problem is from MoveIt! setting or joint controller
+parameters. `fake_joint` guarantees the controller works perfectly,
+means it simulates the precice motion as commended. This package
+eliminates the possibility of controller side in your debugging.
+
+## Quick start
+
+'fake_joint_launch' contains some launch and config files for several
+robots. You can easily try this package. They simulate real robot
+interface like joint trajectory action, so you can use MoveIt! on it.
+
+### UR3/UR5
+
+![UR5 fake_joint](image/ur5_fake.png)
+
+```
+$ roslaunch fake_joint_launch ur3.launch use_rqt:=true
+```
+
+### TRA1
+
+![TRA1 fake_joint](image/tra1_fake.png)
+
+```
+$ roslaunch fake_joint_launch tra1.launch use_rqt:=true
+```
+
+### PR2
+
+![PR2 fake_joint](image/pr2_fake.png)
+
+```
+$ roslaunch fake_joint_launch pr2.launch use_rqt:=true
+```

fake_joint_launch/launch/ur3.launch

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 <launch>
-  <arg name="use_rviz" value="true"/>
-  <arg name="use_rqt" value="false"/>
+  <arg name="use_rviz" default="true"/>
+  <arg name="use_rqt" default="false"/>
 
   <!-- load robot description  -->
   <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />

fake_joint_launch/launch/ur5.launch

@@ -1,6 +1,6 @@
 <launch>
-  <arg name="use_rviz" value="true"/>
-  <arg name="use_rqt" value="false"/>
+  <arg name="use_rviz" default="true"/>
+  <arg name="use_rqt" default="false"/>
 
   <!-- load robot description  -->
   <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />