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updated the prerequisite section, mentioned in the issue. #7

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updated the prerequisite section, mentioned in the issue. #7

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21 changes: 18 additions & 3 deletions contents/dave_sensors/3D-Underwater-Lidar.md
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Expand Up @@ -14,13 +14,28 @@ This tutorial will launch a basic tank environment with a 3D lidar sensor mounte

# Prerequisites
This tutorial assumes you have previously installed the DAVE repositories.
* Assuming the installation went as planned, you can now run:
```
cd ~/uuv_ws/src
git clone https://github.com/Field-Robotics-Lab/nps_uw_sensors_gazebo.git
```
* Build the source code (If using Docker, below commands should be typed inside the docker environment after `./run.bash dockwater:noetic` or `./run.bash -c dockwater:noetic` )
```
cd ~/uuv_ws
catkin build
```
* When the build is finished, source your new `setup.bash`:
```
source ~/uuv_ws/devel/setup.bash
# Source devel/setup.bash or install/setup.bash depending on whether you used the installation option
```
* You should be able to run `roslaunch nps_uw_sensors_gazebo uw_lidar_standalone.launch`

# Launch and run the simulation
* To launch the environment, run:
```
roslaunch nps_uw_sensors_gazebo uw_lidar_standalone.launch
```
```
roslaunch nps_uw_sensors_gazebo uw_lidar_standalone.launch
```
* If all goes well Gazebo should launch into a simulation environment that looks like this:

![tandalone lidar launch, paused](../images/uw_lidar_launch.png)
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