Run-With-Real-Vehicle.md

@@ -62,19 +62,18 @@ Example:
 roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@
 ```
 
-## Launch ROS node
-source you setup.bash
-
 **Clear the area**
 
-## Launch Realsense Node [As required]
+## Source setup.bash
+source you setup.bash
 ```shell
-roslaunch realsense2_camera rs_camera.launch
+source <WORKSPACE_PATH>/devel/setup.bash
 ```
 
-## Launch YDLidar Node [As required]
+## Launch Supporting ROS Nodes
 ```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
@@ -84,14 +83,16 @@ sudo sh initenv.sh
 ```
 You may need to disconnect and reconnect the camera.
 
-## Launch ROS node
-source you setup.bash
+## Launch droneoa ROS Node
+Launch droneoa_ros node, which accept command input.
 ```shell
-source <WORKSPACE_PATH>/devel/setup.bash
-rosrun droneoa_ros droneoa_ros
+cd <droneoa_ros>/launch
+roslaunch step2.launch
 ```
 
-## Simple Summary:
+## [Alternative] Launch Node Manually:
+Using provided step1 step2 launch file is recommended.
+
 Open up a terminal with 4 tabs:
 - tab1: SITL instance
 ```shell
@@ -103,11 +104,15 @@ sim_vehicle.py -v ArduCopter --console --map
 cd <launch file folder>
 roslaunch apm.launch
 ```
-- tab3: realsense node
+- tab3: realsense node [Can be disabled in PDN file]
 ```shell
 roslaunch realsense2_camera rs_camera.launch
 ```
-- tab4: droneoa_ros node
+- tab4: lidar scanner node [Can be disabled in PDN file]
 ```shell
-rosrun droneoa_ros droneoa_ros
+roslaunch ydlidar lidar.launch
 ```
+- tab5: droneoa_ros node
+```shell
+rosrun droneoa_ros droneoa_ros
+```
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