docs: add graphs for individual anchor nodes

README.md

@@ -17,6 +17,8 @@ You will use these packages to launch all rover-side ROS2 nodes.
 - [Common Problems/Toubleshooting](#common-problemstroubleshooting)
 - [Packages](#packages)
 - [Graphs](#graphs)
+  - [Full System](#full-system)
+  - [Individual Nodes](#individual-nodes)
 - [Maintainers](#maintainers)
 
 ## Software Prerequisites
@@ -143,14 +145,37 @@ A: To find a microcontroller to talk to, Anchor sends a ping to every Serial por
 
 ## Graphs
 
-> Anchor stand-alone (`ros2 launch anchor_pkg rover.launch.py`)
-![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
+### Full System
 
-> Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)
-![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
+> **Anchor stand-alone** (`ros2 launch anchor_pkg rover.launch.py`)
+>
+> ![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png)
 
-> Anchor with Headless (`ros2 run headless_pkg headless_full`)
-![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
+> **Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)**
+>
+> ![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png)
+
+> **Anchor with Headless** (`ros2 run headless_pkg headless_full`)
+>
+> ![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png)
+
+### Individual Nodes
+
+> **Anchor** (`ros2 run anchor_pkg anchor`)
+>
+> ![rqt_graph of Anchor node running by itself](./docs-resources/graph-anchor-anchor-standalone.png)
+
+> **Core** (`ros2 run core_pkg core --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Core node running by itself](./docs-resources/graph-anchor-core-standalone.png)
+
+> **Arm** (`ros2 run arm_pkg arm --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Arm node running by itself](./docs-resources/graph-anchor-arm-standalone.png)
+
+> **Bio** (`ros2 run bio_pkg bio --ros-args -p launch_mode:=anchor`)
+>
+> ![rqt_graph of Bio node running by itself](./docs-resources/graph-anchor-bio-standalone.png)
 
 ## Maintainers