readme update

README.md

 # ROS-Kubernetes
 
+Contains scrips and files to create a fielded ros kubernetes cluster.
+
+## Image building
+
+Go into the `docker` directory for Dockerfiles and bash scripts, each type of image has it's own directory. The master image is required to be on the cluster before others will start.
+
+Building the master image is relatively straight forward:
+
+`docker build -t <tag_name> -f Dockerfile .`
+
+Which should load the image into your local docker registry (or whatever registry you're using). To build the remote images, designed to be run on Nivida Jetsons mounted on a UAV, the build command is slightly more complex due to the different architectures:
+
+`docker buildx build --platform linux/arm64 -o type=oci,dest=<image_name>.tar -t <tag_name> .`
+
+Then the tarball can be loaded into the docker registry, on the control plane node or (more likely) the ARM processor:
+
+`<ssh to processor and send image> docker load < <image_name>.tar`
+
+Verify the image is in fact the correct architecture:
+
+`docker image inspect <tag_name>`

clusterStartup.sh

+#!/bin/bash
+# set -e
+
+# script that starts up kubernetes cluster, and does some basic qol
+#tbd