Re-organize, addition of models and update Readme

README.md

@@ -3,7 +3,7 @@
 ## Requirements :
 Native Ubuntu Xenial(16.04 LTS) able to run full 3D graphics.
 
-(Virtual Machine such as VMWare Player does not support full 3D graphics.
+Note : Virtual Machine such as VMWare Player does not support full 3D graphics.
 
 but, possible solution is here
 
@@ -12,7 +12,7 @@ Type follow in the terminal,
 echo "export SVGA_VGPU10=0" >> ~/.bashrc
 source ~/.bashrc
 ````
-from here http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/)
+solution retreived from here http://answers.gazebosim.org/question/13214/virtual-machine-not-launching-gazebo/
 
 ArduPilot setup for SITL launch
 Gazebo version 7.x or 8.x  
@@ -27,7 +27,9 @@ This assume that your are using Ubuntu 16.04
 I assume you already have Gazebo 7+ installed with ROS (or without).  
 If you don't have it yet, install ROS with sudo apt install ros-kinetic-desktop-full
 (follow instruction here http://wiki.ros.org/kinetic/Installation/Ubuntu).  
+
 Or install directly gazebo8 from http://gazebosim.org/tutorials?tut=install_ubuntu  
+
 libgazebo7-dev or libgazebo8-dev must be installed.
 
 For Gazebo 7
@@ -64,7 +66,7 @@ export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
 
 ````
 
-DONE !
+Install is done !!
 
 Now launch a world file with a copter/rover/plane and ardupilot plugin, and it should work!
 (I will try to add some world file and model later)
@@ -85,14 +87,15 @@ On 2nd Termianal(Launch Gazebo with Rover, Retrieved from Husky Model)
 gazebo --verbose rover_ardupilot.world
 
 ````
-COPTER
+COPTER (3DR IRIS)
 ````
 On 1st Terminal(Launch Ardupilot SITL)
 sim_vehicle.py -v ArduCopter -f gazebo-iris  -m --mav10 --map --console -I0
 
 On 2nd Terminal(Launch Gazebo with demo 3DR Iris model)
-gazebo --verbose iris_irlock_demo.world
+gazebo --verbose iris_ardupilot.world
 ````
+
 PLANE
 ````
 On 1st Terminal(Launch Ardupilot SITL)
@@ -144,18 +147,6 @@ You will also need to edit ArduPilot Parameter SYSID_THISMAV to be unique from o
 See simulating 3 IRIS quadcopter at once tutorial from Jonathan Lopes Florêncio
 https://www.youtube.com/watch?v=3c7EhVMaqKY&feature=youtu.be
 
-Example
-````
-On 1st Terminal(Launch ArduCopter SITL)
-sim_vehicle.py -v ArduCopter -f gazebo-iris -I0
-
-On 2nd Terminal(Launch APMrover2 SITL)
-sim_vehicle.py -v APMrover2 -f gazebo-rover -I1
-
-On 3rd Terminal(Launch Gazebo with demo Copter & Rover Model)
-gazebo --verbose worlds/iris_rover.world
-````
-
 ## Troubleshooting
 
 ### Missing libArduPilotPlugin.so... etc