From 84285347028c20d2312bf4792dbace95eb3b3199 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 11 Dec 2022 00:36:01 -0800
Subject: [PATCH] Update README.md

---
 README.md | 49 ++++++++++++++++++++++++-------------------------
 1 file changed, 24 insertions(+), 25 deletions(-)

diff --git a/README.md b/README.md
index 79462030..7dcfbd42 100644
--- a/README.md
+++ b/README.md
@@ -18,7 +18,7 @@
 ## Standalone
 Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
 
-## ROS1: find_object_2d
+## ROS1
 
 ### Install
 
@@ -32,21 +32,21 @@ Source:
  * To include `xfeatures2d` and/or `nonfree` modules of OpenCV, to avoid conflicts with `cv_bridge`, build same OpenCV version that is used by `cv_bridge`. Install it in `/usr/local` (default).
 
 ```bash
- cd ~/catkin_ws
- git clone https://github.com/introlab/find-object.git src/find_object_2d
- catkin_make
+cd ~/catkin_ws
+git clone https://github.com/introlab/find-object.git src/find_object_2d
+catkin_make
 ```
 
 ### Run
 ```bash
- roscore
- # Launch your preferred usb camera driver
- rosrun uvc_camera uvc_camera_node
- rosrun find_object_2d find_object_2d image:=image_raw
+roscore
+# Launch your preferred usb camera driver
+rosrun uvc_camera uvc_camera_node
+rosrun find_object_2d find_object_2d image:=image_raw
 ```
 See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information.
 
-## ROS2: find_object_2d
+## ROS2
 
 ### Install
 
@@ -58,36 +58,35 @@ To come...
 Source:
 
 ```bash
-# Install ROS Foxy/Galactic/Humble (colcon build):
- cd ~/ros2_ws
- git clone https://github.com/introlab/find-object.git src/find_object_2d
- colcon build
+cd ~/ros2_ws
+git clone https://github.com/introlab/find-object.git src/find_object_2d
+colcon build
 ```
 
 ### Run
 ```bash
- # Launch your preferred usb camera driver
- ros2 launch realsense2_camera rs_launch.py
+# Launch your preferred usb camera driver
+ros2 launch realsense2_camera rs_launch.py
  
- # Launch find_object_2d node:
- ros2 launch find_object_2d find_object_2d.launch.py image:=/camera/color/image_raw
+# Launch find_object_2d node:
+ros2 launch find_object_2d find_object_2d.launch.py image:=/camera/color/image_raw
  
- # Draw objects detected on an image:
- ros2 run find_object_2d print_objects_detected --ros-args -r image:=/camera/color/image_raw
+# Draw objects detected on an image:
+ros2 run find_object_2d print_objects_detected --ros-args -r image:=/camera/color/image_raw
 ```
 #### 3D Pose (TF)
 A RGB-D camera is required. Example with Realsense D400 camera:
 ```bash
- # Launch your preferred usb camera driver
- ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
+# Launch your preferred usb camera driver
+ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
  
- # Launch find_object_2d node:
- ros2 launch find_object_2d find_object_3d.launch.py \
+# Launch find_object_2d node:
+ros2 launch find_object_2d find_object_3d.launch.py \
    rgb_topic:=/camera/color/image_raw \
    depth_topic:=/camera/aligned_depth_to_color/image_raw \
    camera_info_topic:=/camera/color/camera_info
  
- # Show 3D pose in camera frame:
- ros2 run find_object_2d tf_example
+# Show 3D pose in camera frame:
+ros2 run find_object_2d tf_example
 ```