Complete README.md

Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
ros2 · Jul 6, 2021 · 9864211 · 9864211
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diff --git a/rclcpp/README.md b/rclcpp/README.md
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-# rclcpp examples
+# Minimal rclcpp wait-set cookbook recipes
 
-This directory contains many examples of how to do common tasks with rclcpp.
-The intent is that this material will be easy to copy-and-paste into your own projects.
+This package contains a few different strategies for creating nodes which use `rclcpp::waitset` 
+to wait and handle ROS entities, that is, subscribers, timers, clients, services, guard 
+conditions and waitables.
+
+* `wait_set_topics_and_timer.cpp`: Simple example using multiple subscriptions, 
+  publishers, and a timer.
+* `wait_set_random_order.cpp`: An example showing user-defined 
+  data handling and a random publisher. `executor_random_order.cpp` run the same node logic 
+  using `SingleThreadedExecutor` to compare the data handling order.  
+* `wait_set_and_executor_composition.cpp`: An example showing how to combine a  
+  `SingleThreadedExecutor` and a wait-set.
+* `wait_set_topics_with_different_rate.cpp`: An example showing how to use a custom trigger 
+  condition to handle topics with different topic rates.
diff --git a/rclcpp/wait_set/wait_set.cpp b/rclcpp/wait_set/wait_set.cpp