Update README file

README.md

@@ -3,21 +3,46 @@ Simulator for the Quadrotor Project, IIT Kharagpur
 
 For setting it up:
 
-Install Gazebo:
+#### Install Gazebo:
+Make sure you have gazebo 2.x.x installed, to check run
 ```sh
+$ gazebo --version
+```
+If the version is not 2.x.x, purge gazebo and its ros packages
+```sh
+$ sudo apt-get purge gazebo* ros-indigo-gazebo*
+```
+Install gazebo2 and its ros packages
+```sh
+$ sudo apt-get install gazebo2
 $ sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control
 ```
+
+#### Install Dependencies
+Install these dependencies
 - `$ sudo apt-get install libsdl1.2-dev`
 - `$ sudo apt-get install liblapack-dev -y ; sudo apt-get install liblapack3 -y ; sudo apt-get install libopenblas-base -y ; sudo apt-get install libopenblas-dev -y ;`
 - `$ sudo apt-get install freeglut3 freeglut3-dev`
+
+#### Get ROS Packages for Simulator
+Clone these repositories in a catkin workspace
 - `$ git clone https://github.com/quadrotor-IITKgp/ardrone_autonomy.git`
 - `$ git clone https://github.com/quadrotor-IITKgp/tum_simulator.git`
 - `$ git clone https://github.com/quadrotor-IITKgp/quad_simulator.git`
 - `$ git clone https://github.com/quadrotor-IITKgp/tum_ardrone.git`
 - Checkout to `ark-world` branch of tum_simulator
 - Checkout to `indigo-devel` branch of ardrone_autonomy
 - Checkout to `indigo-devel` branch of tum_ardrone
+
+#### Build
+
 - `$ catkin_make`
+
+#### Run the Simulator
+
 - `$ roslaunch cvg_sim_gazebo iarc_with_bots.launch` and `$ rosrun quad_simulator groundbot_node`
 - or `$ roslaunch cvg_sim_gazebo iarc_world.launch` for only MAV and IARC arena without ground bots.
+- `$ rosrun tum_ardrone drone_autopilot`
+- `$ rosrun tum_ardrone drone_stateestimation`
+- `$ rosrun tum_ardrone drone_gui`