From f7dd6616998fc47ddcadbab6d08a7c27c1ed1ac9 Mon Sep 17 00:00:00 2001
From: Laia Freixas Mateu <lfreixas@iri.upc.edu>
Date: Wed, 17 Oct 2018 15:59:34 +0200
Subject: [PATCH] Update Readme.md

---
 Readme.md | 40 +++++++++++++++++++++++-----------------
 1 file changed, 23 insertions(+), 17 deletions(-)

diff --git a/Readme.md b/Readme.md
index d750b50..bd2fde7 100644
--- a/Readme.md
+++ b/Readme.md
@@ -14,34 +14,40 @@ This returns the two transforms (base-world and hand-eye) , you can then print i
 Check the launch file [example](launch/publish_wam_chaperone_link.launch)
 
 
-# Tracker axis
+# WAM follows tracker
 
-![tracker_axis](/uploads/248d343fc155216408d836e061636a7d/tracker_axis.png)
+## Dependencies
+#### HTC Vive Tracker C++ library
+Folllow the download and install instructions from the [htc_vive_tracker](https://gitlab.iri.upc.edu/labrobotica/drivers/htc_vive_tracker) repository.
+#### IRI wam dmp tracker
+Folllow the download and install instructions from the [iri_wam_dmp_tracker](https://gitlab.iri.upc.edu/iri_wam/iri_wam_dmp_tracker) repository.
+#### Robot localization package
 
-# Controller axis
+    sudo apt-get install ros-kinetic-robot-localization
 
-![controller_axis](/uploads/3f23c8a5b9acb8af75cdc2d8901f3135/Controller.png)
 
-<!--# Class reference
 
-![htcvivetrackerROS-Page-2](/uploads/b54f6fac94401873783ee96495b84694/htcvivetrackerROS-Page-2.jpg)
+## Procedure
 
-![htcvivetrackerROS](/uploads/011da2e5568b6ee11056e188056c98d3/htcvivetrackerROS.jpg)-->
+To test the WAM following a tracker demo do the following :
 
+    roslaunch iri_htc_vive_tracker wam_follow_device.launch  device:=tracker_1
+    roslaunch iri_wam_bringup iri_wam_bringup.launch
+    roslaunch iri_wam_dmp_tracker iri_wam_dmp_tracker.launch
 
-# WAM follows tracker
 
-## Dependencies
-* [htc_vive_tracker](https://gitlab.iri.upc.edu/labrobotica/drivers/htc_vive_tracker)
-* [iri_wam_dmp_tracker](https://gitlab.iri.upc.edu/iri_wam/iri_wam_dmp_tracker)
-* [robot_localization](https://github.com/cra-ros-pkg/robot_localization)
+# Tracker axis
 
+<img src="/uploads/248d343fc155216408d836e061636a7d/tracker_axis.png"  width="500" >
 
 
-## Procedure
+# Controller axis
 
-To test the WAM following a tracker demo do the following :
+<img src="/uploads/3f23c8a5b9acb8af75cdc2d8901f3135/Controller.png" height="300">
+
+<!--# Class reference
+
+![htcvivetrackerROS-Page-2](/uploads/b54f6fac94401873783ee96495b84694/htcvivetrackerROS-Page-2.jpg)
+
+![htcvivetrackerROS](/uploads/011da2e5568b6ee11056e188056c98d3/htcvivetrackerROS.jpg)-->
 
-    roslaunch iri_htc_vive_tracker wam_follow_device.launch 
-    roslaunch iri_wam_bringup iri_wam_bringup.launch
-    roslaunch iri_wam_dmp_tracker iri_wam_dmp_tracker.launch
\ No newline at end of file
-- 
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