diff --git a/Readme.md b/Readme.md
index 688f90e7abb11d10b857cea5d3d5df4637d123d2..ced0f7b9887cf2e2360d36af9a66258e48ae942a 100644
--- a/Readme.md
+++ b/Readme.md
@@ -3,24 +3,26 @@
* ROS Kinetic
* Assuming you use [catkin](http://wiki.ros.org/catkin) build system
* Gazebo 7.14
- * You can use this script [here](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_gazebo.sh):
- 1. Download or save it somewhere
+ * OR You can use download and run this script [here](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_gazebo.sh):
+ 1. Download and save it
2. Go to the location that you saved it
- 3. source ubuntu_sim_ros_gazebo.sh
+ 3. Run `source ubuntu_sim_ros_gazebo.sh`
+ 
+
# OpenUAV #
This simulation is based on [OpenUAV](https://github.com/Open-UAV) project.
1. In your home directory create a `src` folder by typing `mkdir src` in your terminal
-2. `cd src`
+2. Go to the src folder `cd src`
3. Clone all git repositories in OpenUAV to this folder by `git clone` command
4. Go to the `Firmware` repository by typing `cd Firmware`
5. `source setup-install.sh` (press <kbd>Return</kbd> to continue when asked)
6. When it finishes, type `make posix_sitl_default`
-7. Then try to run Gazebo by typing `gazebo` in your terminal
+7. Then run Gazebo by typing `gazebo` in your terminal
8. Connect the `sitl_gazebo` folder with your `catkin_ws/src` folder by typing `sudo ln -s ~/sitl_gazebo ~/catkin_ws/src` in your terminal
9. Connect the `src/Firmware` folder with your `catkin_ws/src` folder by typing `sudo ln -s ~/src/Firmware ~/catkin_ws/src` in your terminal
10. Go to your `catkin_ws/src` folder (`cd ~/catkin_ws/src`) and build it by typing `catkin build` in the terminal.
-11. `source devel/setup.bash`
-12. Now do the folliwing to configure your ROS environment
+11. Type `source devel/setup.bash`
+12. Now do the following to configure your ROS environment:
1. `roscd`
2. `cd ..`
3. `cd src/Firmware`
@@ -29,67 +31,47 @@ This simulation is based on [OpenUAV](https://github.com/Open-UAV) project.
6. `source Tools/setup_gazebo.bash $(pwd) $(pwd)/build_posix_sitl_default`
7. `export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)`
8. `export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo`
-13. `roslaunch px4 posix_sitl.launch`
-14. `roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14557"`
+13. Open a terminal and type: `roslaunch px4 posix_sitl.launch`
+14. Open a terminal and type: `roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14557"`
# Gripper Setup #
-
-1. Open the terminal and write ""printenv | grep GAZEBO"
-
+1. Open a terminal and type `printenv | grep GAZEBO`
2. Two or more paths should be displayed:
GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models
- GAZEBO_PLUGIN_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/Build
-
-3. Gazebo gets it's models in this case from two paths which are told apart by the : sign.
-
-4. Add the file gripper_plugin.cc in the folder one step up from your GAZEBO_PLUGIN_PATH which in this case would be "/home/user/src/Firmware/Tools/sitl_gazebo/src"
-
-5. Add the following under plugins to the CMakeLists.txt file located at "/home/user/src/Firmware/Tools/sitl_gazebo/src"
- # -----GripperPlugin
- find_package(roscpp REQUIRED)
- find_package(std_msgs REQUIRED)
- include_directories(${roscpp_INCLUDE_DIRS})
- include_directories(${std_msgs_INCLUDE_DIRS})
- find_package(gazebo REQUIRED)
- include_directories(${GAZEBO_INCLUDE_DIRS})
- link_directories(${GAZEBO_LIBRARY_DIRS})
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
- add_library(gripper_plugin SHARED src/gripper_plugin.cc)
- target_link_libraries(gripper_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})
- # -----/GripperPlugin
-
-6. Type in TERMINAL:
- cd ~/home/user/src/Firmware/Tools/sitl_gazebo/Build (GAZEBO_PLUGIN_PATH)
- cmake ../
- make
-
-7. Add the folder "simulation_control" to your "catkin_ws/src" folder.
-
-8. Type in TERMINAL: (building the catkin workspace)
- cd ~/catkin_ws
- catkin build
-
-9. Double check if you're missing any dependencies like pysci etc. and install them if not. Then build again.
- If you want it to work there can be no errors in the build.
-
-10. Type in terminal: (adding gazebo model path)
- sudo nano ~/.bashrc
-
-11. Add the following line to the end of your GAZEBO_MODEL_PATH:
- :/home/user/catkin_ws/src/simulation_control/src/models
-
+ GAZEBO_PLUGIN_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/Build (Gazebo gets it's models in this case from two paths which are told apart by the `:` sign.)
+3. Add the file `gripper_plugin.cc` in the folder one step up from your GAZEBO_PLUGIN_PATH. In this case, it would be "/home/user/src/Firmware/Tools/sitl_gazebo/src"
+4. Add the following under plugins to the `CMakeLists.txt` file located at "/home/user/src/Firmware/Tools/sitl_gazebo/src"
+ ` -----GripperPlugin`
+ `find_package(roscpp REQUIRED)`
+ `find_package(std_msgs REQUIRED)`
+ `include_directories(${roscpp_INCLUDE_DIRS})`
+ `include_directories(${std_msgs_INCLUDE_DIRS}) `
+ `find_package(gazebo REQUIRED)`
+ `include_directories(${GAZEBO_INCLUDE_DIRS})`
+ `link_directories(${GAZEBO_LIBRARY_DIRS})`
+ `set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")`
+ `add_library(gripper_plugin SHARED src/gripper_plugin.cc)`
+ `target_link_libraries(gripper_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})`
+5. Open a terminal and type the following:
+ 1. `cd ~/home/user/src/Firmware/Tools/sitl_gazebo/Build (GAZEBO_PLUGIN_PATH)`
+ 2. `cmake ../`
+ 3. `make`
+6. Add the folder `simulation_control` to your `catkin_ws/src` folder.
+7. Open a terminal and type the following to build the catkin workspace:
+ 1. `cd ~/catkin_ws`
+ 2. `catkin build`
+8. Double check if you're missing any dependencies like `pysci` etc. and install them if not. Then build again.
+9. Open a terminal and type: (adding gazebo model path to bashrc)
+ `sudo nano ~/.bashrc`
+10. In your bashrc, add the following line along with your GAZEBO_MODEL_PATH:
+ `:/home/user/catkin_ws/src/simulation_control/src/models`
For example if it looks like this:
- export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models
-
+ `export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models`
After editing it should look like this:
- export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models
-
-12. Add the file f550_amazing to "/home/user/src/Firmware/posix-configs/SITL/init/lpe".
-
+ `export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models`
+11. Add the file `f550_amazing` to `/home/user/src/Firmware/posix-configs/SITL/init/lpe`
# FAQ #
-
## If after making `posix_sitl`, Gazebo doesn’t launch and gives you a error message regarding `geographiclib` ##
Do the following:
* In your terminal type: `sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras`