update readme

README.md

@@ -2,14 +2,16 @@
 This repository was officially forked from jim1993 (HaoChih, Lin)'s repo, named "Ardrone_indoor_slam"   
 Website: https://github.com/jim1993/Ardrone_indoor_slam  
 The demo video: https://youtu.be/r9LegSK6MfU   
+Original repo: https://github.com/jim1993/Ardrone_indoor_slam  
 
 # Purpose of this package  
 The goal of this forked version is to update and maintain the original version with the help of HyphaROS Workshop.    
 This repo simplified and arranged the source code form origin version which developed by Lin.
 However, those packages including tum_ardrone and lsd_slam are kind of out of date.
 Since there are more efficient algorithm can be applied in this project now, We will continue improving the repo in the future.   
 
-Concept & Architecture Notes (by Kung): https://medium.com/@k3083518729/ardrone-indoor-slam-navigation-eec3812581dd   
+Concept & Architecture Notes (by Kung):   
+https://medium.com/@k3083518729/ardrone-indoor-slam-navigation-eec3812581dd   
 
 The major maintainers of this repo are:  
 *PouChun, Kung ([email protected])   
@@ -27,38 +29,38 @@ but don't forget to install the dependences of them.)
 
 # Operation  
 
-## 1. TUM_Ardone (https://github.com/tum-vision/tum_ardrone)
+## 1. tum_ardone (https://github.com/tum-vision/tum_ardrone)
 
 ``` bash
-roslaunch tum_ardrone ardrone_driver.launch
+$ roslaunch tum_ardrone ardrone_driver.launch
 ```
 connect our computer to ardrone
 ```bash
-roslaunch tum_ardrone tum_ardrone.launch
+$ roslaunch tum_ardrone tum_ardrone.launch
 ```
 Initial PTAM and ensure pose estimate is correct (first fly up 1m and then down 1m to facilitate a good scale estimate).
 
-## 2. LSD_Slam (https://github.com/tum-vision/lsd_slam)
+## 2. lsd_slam (https://github.com/tum-vision/lsd_slam)
 
 ``` bash
-rosrun lsd_slam_viewer viewer
-rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect camera_info:=/ardrone/front/camera_info
+$ rosrun lsd_slam_viewer viewer
+$ rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect camera_info:=/ardrone/front/camera_info
 ```
 Ensure pose estimate is correct.
 
-## 3. hypharos_ardrone
+## 3. hypharos_ardrone (https://github.com/Hypha-ROS/hypharos_ardrone_navigation)
 
 ``` bash
-rosrun hypharos_ardrone conversion
+$ rosrun hypharos_ardrone conversion
 ```
 Do conversion. Flying Ardrone around until dq and dx value converges completely, press "l" to lock them, and press "p" to publish point cloud.
 
 ```bash
-roslaunch ar_drone_moveit demo.launch
+$ roslaunch ar_drone_moveit demo.launch
 ```
 Launch Moveit. After octomap display in Moveit, you can start path planning with motion planner.
 
 ``` bash
-rosrun hypharos_ardrone ardrone_controller
+$ rosrun hypharos_ardrone ardrone_controller
 ```
 Press "p" and "s" to let Ardrone follow the path.