Updating the readme

readme.md

@@ -27,6 +27,28 @@ Run the simulator
     source devel/setup.bash
     roslaunch multi_uav_simulator simu.launch
 
+**Adding a new drone to the environment**
+
+SwarmSim2 uses xacro to spawn new models into the simulation environment. Out of the box, it has 5 drones in the environment. If you need to add a sixth drone, simply follow the steps below.
+
+1) In the `launch/simu.launch` file, add a new line with the corresponding drone id.  Make sure to change `<param name>` and the robot_id accordingly.  For example,
+
+		<param  name="cf6"  command="$(find xacro)/xacro --inorder $(find 		multi_uav_simulator)/cf_description/crazyflie.urdf.xacro robot_id:=6" />
+
+
+2) In order to specify the initial conditions for the robot add a new block in the `config.yaml` file as below.
+
+		robot_6:
+			position: [2, 4, 0]
+			velocity: [0, 0, 0]
+			rotation: [1, 0, 0, 0, -0.9995, -0.0314, 0, 0.0314, -0.9995]
+			omega: [0, 0, 0]
+
+	The rotation and omega stands for the initial rotation matrix (3x3) and the angular velocity (3x1) of the rigid body. Here, we initialize the drone up-side down. To make it right way up, change the rotation matrix to `[1, 0, 0, 0, 1, 0, 0, 0, 1]`.
+
+
+3) Finally, to visualize the newly added drone, add a robot_model visualization type to RViz. Change its description to corresponding param name of the newly added element in the launch file. i.e.: "`cf6`".
+
 [1] Our work based on this controller:
 
     @inproceedings{fernando2019formation,
@@ -48,26 +70,3 @@ Run the simulator
     year={2010},
     organization={IEEE}
     }
-
-
-**Adding a new drone to the environment**
-
-SwarmSim2 uses xacro to spawn new models into the simulation environment. Out of the box, it has 5 drones in the environment. If you need to add a sixth drone, simply follow the steps below.
-
-1) In the `launch/simu.launch` file, add a new line with the corresponding drone id.  Make sure to change `<param name>` and the robot_id accordingly.  For example,
-
-		<param  name="cf6"  command="$(find xacro)/xacro --inorder $(find 		multi_uav_simulator)/cf_description/crazyflie.urdf.xacro robot_id:=6" />
-
-
-2) In order to specify the initial conditions for the robot add a new block in the `config.yaml` file as below.
-
-		robot_6:
-			position: [2, 4, 0]
-			velocity: [0, 0, 0]
-			rotation: [1, 0, 0, 0, -0.9995, -0.0314, 0, 0.0314, -0.9995]
-			omega: [0, 0, 0]
-
-	The rotation and omega stands for the initial rotation matrix (3x3) and the angular velocity (3x1) of the rigid body. Here, we initialize the drone up-side down. To make it right way up, change the rotation matrix to `[1, 0, 0, 0, 1, 0, 0, 0, 1]`.
-
-
-3) Finally, to visualize the newly added drone, add a robot_model visualization type to RViz. Change its description to corresponding param name of the newly added element in the launch file. i.e.: "`cf6`".