Run-With-Real-Vehicle.md

+## Setup workspace
+First, create a catkin workspace
+```shell
+mkdir -p ardupilot_ws/src
+cd ardupilot_ws
+catkin init
+cd src
+```
+Clone the reprository
+
+## Modify Launch Setting File
+Let’s create a new directory for our launch file. (Arducopter)
+```shell
+mkdir launch
+cd launch
+roscp mavros apm.launch apm.launch
+```
+
+Connection defined by URL, you can use any supported type for FCU and GCS.
+
+Supported schemas:
+
+- Serial: /path/to/serial/device[:baudrate]
+- Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
+- Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
+- UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
+- UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
+- UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
+- TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
+- TCP server: tcp-l://[bind_host][:port][/?ids=sysid,compid]
+
+Note:
+
+- Ids from URL overrides value given by system_id & component_id parameters.
+- bind_host - default 0.0.0.0 - i.e. IP4 ANY
+- UDP default ports: 14555 @ 14550
+- UDP remote address updated every time with incoming packet on bind port.
+- TCP default port: 5760
+
+Edit the launch file with correct **url**
+```shell
+nano apm.launch
+<arg name="fcu_url" default="udp://127.0.0.1:14551@14555" />
+```
+
+Launch it with:
+```shell
+roslaunch apm.launch
+```
+
+You can also launch apm.launch directly with additional param.
+Example:
+```shell
+roslaunch mavros apm.launch fcu_url:=tcp://localhost gcs_url:=udp://@
+```
+
+## Launch ROS node
+source you setup.bash
+```shell
+source <WORKSPACE_PATH>/devel/setup.bash
+rosrun droneoa_ros droneoa_ros
+```
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