Update README.md

README.md

@@ -4,22 +4,22 @@ A C++ Toolbox with utilities for 2D laser scan processing, made at IRI (www.iri.
 
 Clone the repository in your chosen directory. In a terminal:
 
-```
+```sh
 cd <your/path>
 git clone <repo-link>
 ```
 
 Create a directory to build all the source files:
-```
-$ mkdir build
-$ cd build
+```sh
+mkdir build
+cd build
 ```
 
 Compile the source files:
 
-```
-$ cmake ..
-$ make
+```sh
+cmake ..
+make
 ```
 
 ## Optional dependencies
@@ -27,7 +27,7 @@ $ make
 **Canonical Scan Matching - CSM**
 
 To enable the compilation of iterative closest point algorithms, [CSM](https://github.com/AndreaCensi/csm) should be installed. Clone, compile and install:
-```
+```sh
 cd <your/path>
 git clone https://github.com/AndreaCensi/csm.git
 cd csm
@@ -37,46 +37,27 @@ sudo make install
 ```
 
 CSM depends on GSL that you probably have installed already. To install it: 
-```
+```sh
 sudo apt install libgsl-dev
 ```
 
 **FALKO Library - falkolib**
 
-To enbale scan matching for loop closure purposes. The library is added as submodule in the deps folder. In order to initialize the submodule use the following commands:
-```
+Loop closure search is implemented using FALKO Library. In order to download, compile and install it:
+```sh
 cd <your/path>
-git submodule init
-git submodule update
-```
-In order to compile and install the repository:
-```
-cd <your/path>
-cd deps/openslam_falkolib/
+git clone https://gitlab.iri.upc.edu/mobile_robotics/falkolib.git
+cd falkolib
 mkdir build
 cd build
 cmake ..
 make
+sudo make install
 ```
 
-You can also install the library into a system directory. 
 To change the install directory you must set cmake environment
-variable ${CMAKE_INSTALL_PREFIX} (e.g. using command "ccmake .."
-before calling "cmake .."). 
+variable `${CMAKE_INSTALL_PREFIX}` (e.g. using command `ccmake ..`
+before calling `cmake ..`). 
 Its default value on UNIX-like/Linux systems is "/usr/local".
-After compiling library falkolib, run the command:
-```
-sudo make install
-```
-The command "sudo" is required only if ${CMAKE_INSTALL_PREFIX} 
+The `sudo` is required only if `${CMAKE_INSTALL_PREFIX}`
 is a system diretory managed by administrator user root.
-Such command copies:
-- header files of ${falkolib_ROOT}/include/falkolib to
-   ${CMAKE_INSTALL_PREFIX}/include/falkolib/
-- library files ${falkolib_ROOT}/lib/libfalkolib.a to
-   ${CMAKE_INSTALL_PREFIX}/lib/
-- cmake script ${falkolib_ROOT}/cmake_modules/falkolibConfig.cmake to
-   ${CMAKE_INSTALL_PREFIX}/share/falkolib/
-
-
-