Merge pull request #11 from abizovnuralem/dev

some changes

README.md

@@ -6,6 +6,22 @@ We are delighted to present you with our integration of the Unitree Go2 ROS2 SDK
 
 This resourceful project is here to empower your Unitree GO2 AIR/PRO/EDU robots with ROS2 SDK capabilities. We're thrilled to offer an enhanced level of control and interaction, enabling you to take your robotics projects to new heights.
 
+## Project RoadMap:
+1. URDF :white_check_mark: 
+2. Joint states sync in real time :white_check_mark: 
+3. IMU sync in real time :white_check_mark: 
+4. Joystick control in real time :white_check_mark: 
+6. Go2 topics info in real time :white_check_mark: 
+7. Foot force sensors info in real time :white_check_mark: 
+8. Lidar stream (added pointCloud2) :white_check_mark: 
+9. Camera stream :white_check_mark:
+10. Foxglove bridge :white_check_mark:
+11. Laser Scan :white_check_mark:
+12. SLAM (slam_toolbox) :white_check_mark:
+13. Navigation (nav2) :white_check_mark:
+14. Object detection
+15. AutoPilot
+
 ## Exciting Features:
 
 :sparkles: Full ROS2 SDK support for your Unitree GO2
@@ -14,13 +30,6 @@ This resourceful project is here to empower your Unitree GO2 AIR/PRO/EDU robots
 
 :footprints: Access to foot force sensors feedback (available on GO2 PRO/EDU)
 
-## Your feedback and support mean the world to us. 
-
-If you're as enthusiastic about this project as we are, please consider giving it a :star: star on our GitHub repository. 
-
-Your encouragement fuels our passion and helps us develop our RoadMap further. We welcome any help or suggestions you can offer!
-
-Together, let's push the boundaries of what's possible with the Unitree Go2 and ROS2!
 
 Real time Go2 Air/PRO/EDU joints sync:
 
@@ -30,7 +39,6 @@ Real time Go2 Air/PRO/EDU joints sync:
 
 Go2 Air/PRO/EDU lidar point cloud:
 
-
 <p align="center">
 <img width="1280" height="640" src="https://github.com/abizovnuralem/go2_ros2_sdk/blob/master/go2_lidar_3.gif?raw=true" alt='Go2 point cloud'>
 </p>
@@ -39,23 +47,6 @@ Go2 Air/PRO/EDU lidar point cloud:
 <img width="1280" height="640" src="https://github.com/abizovnuralem/go2_ros2_sdk/assets/33475993/9c1c3826-f875-4da1-a650-747044e748e1" alt='Go2 point cloud'>
 </p>
 
-
-## Project RoadMap:
-1. URDF :white_check_mark: 
-2. Joint states sync in real time :white_check_mark: 
-3. IMU sync in real time :white_check_mark: 
-4. Joystick control in real time :white_check_mark: 
-6. Go2 topics info in real time :white_check_mark: 
-7. Foot force sensors info in real time :white_check_mark: 
-8. Lidar stream (added pointCloud2) :white_check_mark: 
-9. Camera stream :white_check_mark:
-10. Foxglove bridge :white_check_mark:
-11. Laser Scan :white_check_mark:
-12. SLAM (slam_toolbox) :white_check_mark:
-13. Navigation (nav2) :white_check_mark:
-14. Object detection
-15. AutoPilot
-
 ## Topic
 Real time Go2 Air/PRO ROS2 topics
 
@@ -67,7 +58,6 @@ Real time Go2 Air/PRO ROS2 topics
 <img width="446" height="1045" src="https://github.com/abizovnuralem/go2_ros2_sdk/assets/33475993/671af655-877b-4f36-89d3-91730674526d" alt='Go2 topic list'>
 </p>
 
-
 ## System requirements
 Tested systems and ROS2 distro
 |systems|ROS2 distro|Build status
@@ -99,14 +89,10 @@ workspace_folder/
  py_package_2/
 ```
 
-
 install gstreamer in ubuntu
 
 ```
-
 sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio
-
-
 ```
 you need to manualy compile your opencv-python to support gstreamer (remove current opencv-python version)
 
@@ -117,7 +103,6 @@ sudo apt-get install --quiet -y --no-install-recommends \
  gstreamer1.0-opencv \
  libgstreamer1.0-0 
 
-
 # Install minimal prerequisites (Ubuntu 18.04 as reference)
 sudo apt update && sudo apt install -y cmake g++ wget unzip
  
@@ -158,7 +143,7 @@ cargo should work in terminal
 cargo --version
 ```
 
-build it
+Build it
 
 You need to install ros2 and rosdep package first.
 
@@ -182,7 +167,6 @@ source install/setup.bash
 ros2 launch go2_robot_sdk robot.launch.py
 ```
 
-
 ## Foxglove
 
 <p align="center">
@@ -198,7 +182,6 @@ sudo snap install foxglove-studio
 2. In the "Open Connection" settings, choose "Foxglove WebSocket" and use the default configuration ws://localhost:8765, then press "Open".
 3. (Optional) You can also import a default layout view from the foxglove.json file located inside this repository.
 
-
 ## SLAM
 
 <p align="center">
@@ -209,10 +192,17 @@ sudo snap install foxglove-studio
 
 To contribute or modify the project, refer to these resources for implementing additional features or improving the existing codebase. PRs are welcome!
 
+## Your feedback and support mean the world to us. 
+
+If you're as enthusiastic about this project as we are, please consider giving it a :star: star on our GitHub repository. 
+
+Your encouragement fuels our passion and helps us develop our RoadMap further. We welcome any help or suggestions you can offer!
+
+Together, let's push the boundaries of what's possible with the Unitree Go2 and ROS2!
 
 ## Thanks
-Special thanks to @legion1581, @tfoldi, @budavariam, @alex.lin and TheRoboVerse community!
 
+Special thanks to @legion1581, @tfoldi, @budavariam, @alex.lin and TheRoboVerse community!
 
 ## License