Turtlebot3.md

@@ -110,7 +110,9 @@ Define a specific namespace for each robot and initialize two parameters *multi_
 (Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
 ```
 
-(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file) ![](./images/turtlebot3_burger2.png)
+(if you need to use /clock in your ros package, you have to be aware about *use_sim_time* parameter defined in the launch file) 
+
+![](./images/turtlebot3_burger2.png)
 
 * Using a simulated burger with _rviz_
 
@@ -118,7 +120,9 @@ Define a specific namespace for each robot and initialize two parameters *multi_
 (Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_fake turtlebot3_fake.launch
 ```
 
-(if you use a specific namespace, dont forget to change it in the rviz interface (e.g. /odom by /myspace/odom)) ![](./images/turtlebot3-rviz.png)
+(if you use a specific namespace, dont forget to change it in the rviz interface (e.g. /odom by /myspace/odom)) 
+
+![](./images/turtlebot3-rviz.png)
 
 * Controlling the burger with keyboard
 
@@ -176,9 +180,9 @@ The waffle follows the same philosophy as the burger. The main difference is a b
 Add the following lines in the .bashrc of your Remote PC to define the necessary environment variables for runnning ROS:
 
 ```plaintext
-+ export TURTLEBOT3_MODEL=waffle_pi
-+ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
-+ export ROS_HOSTNAME=IP_OF_REMOTE_PC
+export TURTLEBOT3_MODEL=waffle_pi
+export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
+export ROS_HOSTNAME=IP_OF_REMOTE_PC
 ```
 
 Reinitialize the environment of your Remote PC:
@@ -187,7 +191,7 @@ Reinitialize the environment of your Remote PC:
 (Remote PC)> source ~/.bashrc
 ```
 
-Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run /roscore/ on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running /roscore/.
+Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run *roscore* on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running *roscore*.
 
 * Configuring the TurtleBot3 Waffle
 
@@ -200,9 +204,9 @@ From the remote PC, connect to the Waffle by ssh:
 Add the following lines in the .bashrc of the Waffle to define the necessary environment variables for runnning ROS:
 
 ```plaintext
-+ export TURTLEBOT3_MODEL=waffle_pi
-+ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
-+ export ROS_HOSTNAME=IP_OF_WAFFLE
+export TURTLEBOT3_MODEL=waffle_pi
+export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
+export ROS_HOSTNAME=IP_OF_WAFFLE
 ```
 
 Reinitialize the environment of your Waffle:
@@ -219,20 +223,23 @@ Reinitialize the environment of your Waffle:
 (Remote PC)>roscore
 ```
 
-* Starting the Waffle
+* Starting a real robot Waffle
 
 ```plaintext
 (Remote PC)>ssh pi@{IP_ADDRESS_OF_WAFFLE}
-(Waffle)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch  
+(Waffle)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch  multi_robot_name:="myspace" set_lidar_frame_id:="myspace/base_scan"
+(Remote PC)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=myspace
 ```
 
-* Using a simulated Waffle with _gazebo_
+* Starting a simulated robot Waffle with _gazebo_
 
 ```plaintext
 (Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch
 ```
 
-(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file) ![](./images/turtlebot3_burger2.png)
+(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file) 
+
+![](./images/turtlebot3_burger2.png)
 
 * Controlling the Waffle with keyboard