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update readme #104

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Jun 10, 2019
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update readme #104

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8 changes: 5 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,7 @@ Create the workspace and download source files:
```sh
mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/dashing/mara-ros2.repos
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
vcs import src < mara-ros2.repos
```

Expand Down Expand Up @@ -261,8 +261,10 @@ If you have used a different urdf in the Terminal 1, you will need to use `urdf:
roslaunch mara_bringup mara_bringup_moveit_actions.launch urdf:=mara_robot_gripper_140
```

*In case you have launched two robots, you will need to add `multiple_robots:=true`*

#### Terminal 3 (bridge)
Source catkin_mara_ws and ros2_mara_ws:
Source *catkin_mara_ws* and *ros2_mara_ws*:
```sh
source ~/catkin_mara_ws/devel_isolated/setup.bash
source ~/ros2_mara_ws/install/setup.bash
Expand Down Expand Up @@ -329,7 +331,7 @@ roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real urdf:=mara_r

#### Terminal 3 (bridge)

Source catkin_mara_ws nad ros2_mara_ws, and export RMW_IMPLEMENTATION and ROS_DOMAIN_ID:
Source *catkin_mara_ws* and *ros2_mara_ws*, and export `RMW_IMPLEMENTATION` and `ROS_DOMAIN_ID`:
```sh
source ~/catkin_mara_ws/devel_isolated/setup.bash
source ~/ros2_mara_ws/install/setup.bash
Expand Down