Add documentation on how to run this

[amalnanavati]

This doesn't need to be a priority right now, but it would be great to have documentation on how to run this. In particular, given where we are in system development right now, it would be great to have documentation on what to run to get ADA and MoveIt running in RVIZ, so we can see the robot and either use the RVIZ GUI or manually call the action servers in order to move the robot.

(I think Ethan has already sent these instructions in various Slack messages, so this might just involve cobbling those together.)

[amalnanavati]

#4 addressed sim. We should still add documentation on running it in real (although I now know that that is basically the same minus the parameter :) )