Add README.md

README.md

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+## FastDDS locator identification using fastdds_statistics_backend
+
+Build docker image
+
+```bash
+docker build --output type=docker -t fastdds_monitor .
+```
+
+Run
+```bash
+docker run --rm -it --network="host" --name=fastdds-monitor fastdds_monitor:latest
+```
+
+At the initial start, there might be quite a log about the discoveries of topics and participants.
+
+After a while, every five seconds, the locators for each participant will be logged.
+
+### Ros2 node name matching
+
+Normally, the participants do not have a name in the DDS network. However, each of the ROS2 node has the default services as (`/NAMESPACE/NODE_NAME/get_parameters`). The script uses the regex below to match the ROS2 nodes' topics and participants using the first partition of the GUID.
+
+```
+^DataReader_rq/(.+)/get_parametersRequest_[0-9]+\\.[0-9]+\\.[0-9]+\\.[0-9]+$
+```