Run-With-Real-Vehicle.md

@@ -66,8 +66,39 @@ source you setup.bash
 
 **Clear the area**
 
-Then launch the node
+
+## Launch Realsense Node
+```shell
+roslaunch realsense2_camera rs_camera.launch
+```
+
+## Launch ROS node
+source you setup.bash
 ```shell
 source <WORKSPACE_PATH>/devel/setup.bash
 rosrun droneoa_ros droneoa_ros
-```
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+```
+
+## Simple Summary:
+Open up a terminal with 4 tabs:
+- tab1: SITL instance
+```shell
+cd <ardupilot repo>/ArduCopter
+sim_vehicle.py -v ArduCopter --console --map
+```
+- tab2: mavros node
+```shell
+cd <launch file folder>
+roslaunch apm.launch
+```
+- tab3: realsense node
+```shell
+roslaunch realsense2_camera rs_camera.launch
+```
+- tab4: droneoa_ros node
+```shell
+rosrun droneoa_ros droneoa_ros
+```
+
+## 3D Simulation
+[SITL With Gazebo](SITL With Gazebo)
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