Adding doc

README.md

@@ -2,21 +2,32 @@
 
 Gazebo files needed by wara people.
 
+## Variables
+
 
 ## Camera Simulations
 
 MQTT 1883 (or 8883 if TSL is used) port must be accesible.
 
-Common things:
+### Common things:
 ```bash
 rosrun lrs_mqtt gazebo_mqtt_bridge _gazebo_side:=true
 rosrun lrs_common coordtrans __ns:=/gpu0
 rosrun lrs_json_api_bridge json_api_server __ns:=/gpu0
 roslaunch lrs_octree_server octreeserver.launch ns:=/gpu0
+```
+
+### Common Things Main broker:
+```bash
 roslaunch lrs_json_api_bridge json_api.launch  mqtt_host:=broker.waraps.org mqtt_user:=mqtt mqtt_passwd:=Check mqtt_tls:=true mqtt_prefix1:="waraps" mqtt_prefix2:="unit" mqtt_prefix3:="ground" mqtt_prefix4:="real" ns:=/gpu0 --wait
 ```
 
-Check MQTT data:
+### Common Things Test Broker:
+```bash
+roslaunch lrs_json_api_bridge json_api.launch  mqtt_host:=178.174.249.11 mqtt_prefix1:="waraps" mqtt_prefix2:="unit" mqtt_prefix3:="ground" mqtt_prefix4:="real" ns:=/gpu0 --wait
+```
+
+### Check MQTT data:
 ```bash
 mosquitto_sub -t '#' -F '%t'
 ```
@@ -26,6 +37,7 @@ mosquitto_sub -t '#' -F '%t'
 
 ```bash
 roslaunch lrs_launch config.launch location:=granso ns:=/gpu0
+roslaunch lrs_wara_gazebo granso_many_dji.launch gui:=false rtsp:=true world:=granso.world far_clip:=700
 ```
 
 
@@ -33,6 +45,7 @@ roslaunch lrs_launch config.launch location:=granso ns:=/gpu0
 
 ```bash
 roslaunch lrs_launch config.launch location:=petterstedt ns:=/gpu0
+roslaunch lrs_wara_gazebo granso_many_dji.launch gui:=false rtsp:=true world:=petterstedt.world far_clip:=700
 ```