Launch-In-SITL.md

@@ -42,30 +42,17 @@ Now you got an SITL instance launched with TCP and UDP access, you should have s
 ```
 Both “–out” refer to UDP connexion create by MAVProxy. We will use UDP access with mavros.
 
-Get back to your ROS terminal. Let’s create a new directory for our launch file.
-```shell
-mkdir launch
-cd launch
-roscp mavros apm.launch apm.launch
-```
 Edit the launch file with correct **fcu_url**
 ```shell
+cd <droneoa_ros>/launch
 nano apm.launch
 <arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
 ```
-Launch it with:
-```shell
-roslaunch apm.launch
-```
 
-## Launch Realsense Node [As required]
+## Launch Supporting ROS Node
 ```shell
-roslaunch realsense2_camera rs_camera.launch
-```
-
-## Launch YDLidar Node [As required]
-```shell
-roslaunch ydlidar lidar.launch
+cd <droneoa_ros>/launch
+roslaunch step1.launch
 ```
 **Note:** For first time launch, run the following script to create a device name for ydlidar.
 ```shell
@@ -75,6 +62,12 @@ sudo sh initenv.sh
 ```
 You may need to disconnect and reconnect the camera.
 
+## Launch droneos ROS Node [As required]
+```shell
+cd <droneoa_ros>/launch
+roslaunch step2.launch
+```
+
 ## Launch ROS node
 source you setup.bash
 ```shell
@@ -82,7 +75,7 @@ source <WORKSPACE_PATH>/devel/setup.bash
 rosrun droneoa_ros droneoa_ros
 ```
 
-## Simple Summary:
+## [Optional] Launch Node Manually:
 Open up a terminal with 4 tabs:
 - tab1: SITL instance
 ```shell