diff --git a/README.md b/README.md index 523ada770a6a2179502c43c224ec0b4232a95146..1c0928eae30dd2793a58fa0bafeae5f66f947437 100644 --- a/README.md +++ b/README.md @@ -29,20 +29,34 @@ The driver_mpu9250 package has been tested under [ROS] Melodic and Ubuntu 18.04. To build from source, clone the latest version from this repository into your catkin workspace and compile the package using - cd catkin_workspace/src - git clone https://github.com/pcdangio/ros-driver_mpu9250.git driver_mpu9250 - cd ../ - catkin_make +```bash +# Switch to your catkin workspace directory. +cd catkin_workspace + +# Clone the package into the workspace src directory. +git clone https://github.com/pcdangio/ros-driver_mpu9250.git src/driver_mpu9250 + +# Build the package. +catkin_make +``` ## Usage Run any of the driver nodes with (where xxx is the driver type): - rosrun driver_mpu9250 driver_mpu9250_xxx +```bash +rosrun driver_mpu9250 driver_mpu9250_xxx +``` For example, to run the node using a driver for a Raspberry Pi: - rosrun driver_mpu9250 driver_mpu9250_rpi +```bash +# First, in a different terminal, start up the PiGPIO Daemon: +sudo pigpiod + +# In a second terminal, start up the driver. +rosrun driver_mpu9250 driver_mpu9250_rpi +``` ### Creating Device Drivers