From 98b75a82e0183d5a61f3b140645e0e88cd5ec2ad Mon Sep 17 00:00:00 2001
From: Andy Tang <79429561+PERPETU4L-M0TI0N@users.noreply.github.com>
Date: Thu, 16 Mar 2023 00:17:46 -0700
Subject: [PATCH 1/2] Update README.md

added a reminder to source ros2 setup.bash before building
---
 README.md | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index cad87c3..f674e17 100644
--- a/README.md
+++ b/README.md
@@ -9,8 +9,10 @@ The recommended installation process is to go to the `robosub` directory and run
 
     bash scripts/install_scripts/install-ros-foxy.sh
 
-which will install ROS2 Foxy, Gazebo 11, download the necessary repositories, install the requirements using `rosdep`, and setup your `~/.bashrc` for future use. Then, run
-
+which will install ROS2 Foxy, Gazebo 11, download the necessary repositories, install the requirements using `rosdep`, and setup your `~/.bashrc` for future use. 
+First source ros2
+    source /opt/ros/foxy/setup.bash
+Then, run
     colcon build --symlink-install
 
 which will build the necessary files.

From a269ef668959335ae967396cc7d0be4dc6e09123 Mon Sep 17 00:00:00 2001
From: Andy Tang <79429561+PERPETU4L-M0TI0N@users.noreply.github.com>
Date: Thu, 16 Mar 2023 00:57:47 -0700
Subject: [PATCH 2/2] Update README.md

---
 README.md | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index f674e17..c5a3df4 100644
--- a/README.md
+++ b/README.md
@@ -11,20 +11,30 @@ The recommended installation process is to go to the `robosub` directory and run
 
 which will install ROS2 Foxy, Gazebo 11, download the necessary repositories, install the requirements using `rosdep`, and setup your `~/.bashrc` for future use. 
 First source ros2
+
     source /opt/ros/foxy/setup.bash
+    
 Then, run
+
     colcon build --symlink-install
 
 which will build the necessary files.
 
 # Running the sub
 
-Make sure you have sourced the `foxy` setup file, `gazebo` setup file, and `robosub` setup file already (this is done for you in the install script). Then run each command in a different terminal. We recommend using [tmux](https://github.com/tmux/tmux/wiki) to run the commands in separate panes so you can see all the outputs.
+Make sure you have sourced the `foxy` setup file, `gazebo` setup file, and `robosub` setup file already (this is done for you in the install script).
+From your robosub workspace you can run
 
-## Teleop Mode
+    source ./install/setup.bash
+    source ./install/local_setup.bash
+
+Then run each of the following command in a different terminal. We recommend using [tmux](https://github.com/tmux/tmux/wiki) to run the commands in separate panes so you can see all the outputs, though it is fine to use the default terminal.
 
 1. `ros2 launch simulator robosub.launch` will spawn Gazebo with the RoboSub 2019 world
 2. `ros2 launch sub_descriptions upload_rexrov_default.launch.py x:=10 y:=-10 z:=-10` will spawn in our submarine into Gazebo.
+
+## Teleop Mode
+
 3. `ros2 launch uuv_control_cascaded_pid key_board_velocity.launch model_name:=rexrov` will start the PID controllers for the sub and the thruster manager.
 4. `ros2 run uuv_teleop vehicle_keyboard_teleop.py --ros-args -r output:=/rexrov/cmd_vel` to use a keyboard to send commands to the motor controllers.