diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..b405a01
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,18 @@
+# Exclude build artifacts and logs
+/cache/
+*.log
+
+# Exclude other potential build artifacts
+*.o
+*.a
+*.so
+
+# Exclude IDE and system-specific files
+*.swp
+*.swo
+.DS_Store
+*.pyc
+*.pyo
+
+# Exclude local configuration files
+*.env
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..9321dee
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,12 @@
+[submodule "src/turtlebot3_simulations"]
+	path = src/turtlebot3_simulations
+	url = https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+	branch = humble-devel
+[submodule "src/.devcontainer/turtlebot_ws/turtlebot3"]
+	path = src/.devcontainer/turtlebot_ws/turtlebot3
+	url = https://github.com/ROBOTIS-GIT/turtlebot3.git
+	branch = humble-devel
+[submodule "src/.devcontainer/turtlebot_ws/turtlebot3_simulations"]
+	path = src/.devcontainer/turtlebot_ws/turtlebot3_simulations
+	url = https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+	branch = humble-devel
diff --git a/README.md b/README.md
index b8b6790..1b74aa1 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,99 @@
-# Collaborative-Autonomous-Multi-Agent-SLAM
\ No newline at end of file
+# Collaborative-Autonomous-Multi-Agent-SLAM
+## Table of Contents
+- [Setup Development Environment](#setup-development-environment)
+  - [ROS](#ros)
+  - [Gazebo](#gazebo)
+  - [Python](#python)
+- [Troubleshooting Help](#troubleshooting-help)
+- [Interacting with the Platform](#interacting-with-the-platform)
+- [Resources](#resources)
+
+## Setup Development Environment
+
+### ROS
+To set up the ROS environment, follow these steps:
+
+1. **Install ROS**
+   - Open the "x64 Native Tools Command Prompt for VS 2019" as Administrator.
+   - Install Chocolatey package manager:
+     ```sh
+     @"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"
+     ```
+   - Install Git:
+     ```sh
+     choco upgrade git -y
+     ```
+   - Install ROS:
+     ```sh
+     mkdir c:\opt\chocolatey
+     set ChocolateyInstall=c:\opt\chocolatey
+     choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
+     choco upgrade ros-noetic-desktop_full -y --execution-timeout=0
+     ```
+
+2. **Source the ROS Environment**
+   - Open the Visual Studio Command Prompt as Administrator.
+   - Source the setup script:
+     ```sh
+     c:\opt\ros\noetic\x64\setup.bat
+     ```
+
+3. **Verify the ROS Installation**
+   - Check the ROS version:
+     ```sh
+     rosversion -d
+     ```
+
+For more detailed instructions, refer to the [Installing and Configuring Your ROS Environment](https://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment) tutorial.
+
+### Gazebo
+To set up Gazebo, follow these steps:
+
+1. **Install Gazebo**
+   - Use the ROS package manager to install Gazebo:
+     ```sh
+     sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
+     ```
+
+2. **Verify the Gazebo Installation**
+   - Run Gazebo to ensure it's installed correctly:
+     ```sh
+     gazebo
+     ```
+
+### Python
+To set up Python for ROS:
+
+1. **Install Python**
+   - Download and install Python from the [official website](https://www.python.org/downloads/).
+
+2. **Install ROS Python Dependencies**
+   - Install the necessary Python packages for ROS:
+     ```sh
+     pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
+     ```
+
+## Troubleshooting Help
+If you encounter issues during setup, here are some common troubleshooting steps:
+
+- Ensure all paths are correctly set in your environment variables.
+- Verify that you are running the commands in the appropriate shell (e.g., Visual Studio Command Prompt for VS 2019).
+- Check for any typos or syntax errors in the commands.
+- Refer to the [ROS Troubleshooting Guide](https://wiki.ros.org/ROS/Installation/Windows#Troubleshooting).
+
+## Interacting with the Platform
+To start working with the platform, follow these steps:
+
+1. **Create a Catkin Workspace**
+   ```sh
+   mkdir -p ~/catkin_ws/src
+   cd ~/catkin_ws/
+   catkin_make
+   source devel/setup.bash
+   cd ~/catkin_ws/src
+   catkin_create_pkg my_package std_msgs rospy roscpp
+   cd ~/catkin_ws
+   catkin_make
+
+
+
diff --git a/src/.devcontainer/Dockerfile b/src/.devcontainer/Dockerfile
new file mode 100644
index 0000000..aea3afe
--- /dev/null
+++ b/src/.devcontainer/Dockerfile
@@ -0,0 +1,60 @@
+# Use the official ROS Humble base image
+FROM ros:humble
+
+# Set arguments for the user creation
+ARG USERNAME=krish
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Switch to root to install packages
+USER root
+
+# Install necessary packages including X11 and Qt dependencies
+RUN apt-get update && apt-get install -y \
+    sudo \
+    python3-pip \
+    ros-humble-desktop \
+    ros-humble-gazebo-* \
+    ros-humble-cartographer \
+    ros-humble-cartographer-ros \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-turtlebot3* \
+    libxcb-xinerama0 \
+    x11-apps \
+    libgl1-mesa-glx \
+    libqt5gui5 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Create the user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Set the default shell
+ENV SHELL /bin/bash
+
+# Set environment variables for GUI support
+ENV DISPLAY=:0
+ENV QT_X11_NO_MITSHM=1
+ENV XDG_RUNTIME_DIR=/tmp/runtime-$USERNAME
+
+# Set TurtleBot3 model environment variable
+ENV TURTLEBOT3_MODEL=burger 
+
+# Set the working directory
+WORKDIR /home/$USERNAME
+
+# Source ROS environment in .bashrc and set up TurtleBot3 simulation setup
+RUN echo "source /opt/ros/humble/setup.bash" >> /home/$USERNAME/.bashrc \
+    && echo "export TURTLEBOT3_MODEL=\$TURTLEBOT3_MODEL" >> /home/$USERNAME/.bashrc
+
+# Create a ROS workspace directory
+RUN mkdir -p /home/$USERNAME/ros2_ws/src
+
+# Switch to the new user
+USER $USERNAME
+
+# Set the default command
+CMD ["/bin/bash"]
\ No newline at end of file
diff --git a/src/.devcontainer/devcontainer.json b/src/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..80daea5
--- /dev/null
+++ b/src/.devcontainer/devcontainer.json
@@ -0,0 +1,42 @@
+{
+    "name": "ROS 2 Development Container",
+    "privileged": true,
+    "remoteUser": "krish",
+    "build": {
+        "dockerfile": "Dockerfile",
+        "args": {
+            "USERNAME": "krish"
+        }
+    },
+    "workspaceFolder": "/home/krish/ros2_ws",
+    "workspaceMount": "source=${localWorkspaceFolder}/src,target=/home/krish/ros2_ws/src,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "unix:0",
+        "ROS_LOCALHOST_ONLY": "1",
+        "ROS_DOMAIN_ID": "42"
+    },
+    "runArgs": [
+        "--net=host",
+        "-e", "DISPLAY=${env:DISPLAY}"
+    ],
+    "mounts": [
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
+        "source=${localWorkspaceFolder}/../cache/build,target=/home/krish/ros2_ws/build,type=bind",
+        "source=${localWorkspaceFolder}/../cache/install,target=/home/krish/ros2_ws/install,type=bind",
+        "source=${localWorkspaceFolder}/../cache/log,target=/home/krish/ros2_ws/log,type=bind"
+    ],
+    "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R krish /home/krish/ros2_ws"
+}
\ No newline at end of file
diff --git a/src/.devcontainer/turtlebot_ws/src/hello.py b/src/.devcontainer/turtlebot_ws/src/hello.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/.devcontainer/turtlebot_ws/turtlebot3 b/src/.devcontainer/turtlebot_ws/turtlebot3
new file mode 160000
index 0000000..a7dd05a
--- /dev/null
+++ b/src/.devcontainer/turtlebot_ws/turtlebot3
@@ -0,0 +1 @@
+Subproject commit a7dd05ae176f3f3778b0a36f7065dc9655b050e3
diff --git a/src/.devcontainer/turtlebot_ws/turtlebot3_simulations b/src/.devcontainer/turtlebot_ws/turtlebot3_simulations
new file mode 160000
index 0000000..d16cdbe
--- /dev/null
+++ b/src/.devcontainer/turtlebot_ws/turtlebot3_simulations
@@ -0,0 +1 @@
+Subproject commit d16cdbe7ecd601ccad48f87f77b6d89079ec5ac1