docs: Initial commit to add basic set up tutorial to README.md

Refs colcon#12

Author: jaron-l

README.md

@@ -4,3 +4,31 @@
 
 An extension for [colcon-core](https://github.com/colcon/colcon-core) to
 support Rust projects built with Cargo.
+
+## Basic Set Up
+This introduction assumes the following dependencies are already installed:
+- python >= 3.5
+- rust/cargo are installed
+- colcon (comes with ros2 core distribution)
+
+#### Install colcon_cargo
+`pip install -U git+https://github.com/colcon/colcon-cargo.git`
+#### Create two cargo crates
+Navigate to a workspace where you want to start creating packages and run the following commands:
+```
+cargo new hello_world
+cargo new hello_world_2
+```
+
+#### Build with colcon
+```colcon build```
+
+You should get output that looks like this:
+```
+Starting >>> hello_world
+Starting >>> hello_world_2
+Finished <<< hello_world_2 [1.84s]
+Finished <<< hello_world [1.94s]
+
+Summary: 2 packages finished [2.34s]
+```