From 2dab0eeeb014b2b164ca063032531a23b0e1a5d7 Mon Sep 17 00:00:00 2001
From: "Hyunseok Yang (YG)" <hyunseok7.yang@lge.com>
Date: Wed, 27 Jan 2021 19:28:24 +0900
Subject: [PATCH] Update README.md

---
 README.md | 42 +++++++++++++++++-------------------------
 1 file changed, 17 insertions(+), 25 deletions(-)

diff --git a/README.md b/README.md
index 570cdf24..3a803eb4 100644
--- a/README.md
+++ b/README.md
@@ -36,38 +36,36 @@ check here [details](https://github.com/lge-ros2/cloisim_ros/tree/foxy/cloisim_r
 
 strongly recommend to use this method.
 
-#### Turn on single Mode
+#### Turn off single mode(=multi robot mode)
 
-will NOT apply namespace for robot and the number of robot must BE single in world environment.
+apply namespace for each robot)
 
 ```shell
-ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=True
-```
+ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=False
 
-#### Turn off single mode
+ros2 run cloisim_ros_bringup cloisim_ros_bringup
+```
 
-apply namespace for each robot)
+or
 
 ```shell
-ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=False
+ros2 launch cloisim_ros_bringup bringup.launch.py
 
-ros2 run cloisim_ros_bringup cloisim_ros_bringup
+ros2 launch cloisim_ros_bringup bringup.launch.py singlemode:=False
 ```
 
-### launch cloisim_ros for robot
+#### Turn on single Mode
 
-will be deprecated.
+will NOT apply namespace for robot and the number of robot must BE single in world environment.
 
 ```shell
-ros2 launch cloisim_ros_bringup robot.launch.py robot_name:=cloi
+ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=True
 ```
 
-### launch factory (elevator system and world)
-
-will be deprecated.
+or
 
 ```shell
-ros2 launch cloisim_ros_bringup factory.launch.py
+ros2 launch cloisim_ros_bringup bringup.launch.py singlemode:=True
 ```
 
 ### How to run cloisim_ros with CLOiSim together
@@ -78,15 +76,9 @@ ros2 launch cloisim_ros_bringup factory.launch.py
 ros2 launch cloisim_ros_bringup cloisim.launch.py sim_path:=/opt/CLOiSim/CLOiSim-1.10.0 world:=lg_seocho.world
 ```
 
-#### simulator + cloisim_ros package(clock topic)
-
-```shell
-ros2 launch cloisim_ros_bringup cloisim_and_factory.launch.py sim_path:=/opt/CLOiSim/CLOiSim-1.10.0 world:=lg_seocho.world
-```
-
 ## Using Docker
 
-Run below command after clone this repository(this branch). Only support 'ros2 run' 
+Run below command after clone this repository(this branch). Only support 'ros2 run'
 
 ### Build Docker image
 
@@ -99,15 +91,15 @@ docker build -t cloisim_ros .
 ### Running container
 
 ```shell
-docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros 
+docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros
 
-docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros --ros-args -p singlemode:=False
+docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros singlemode:=False
 ```
 
 or
 
 ```shell
-docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros --ros-args -p singlemode:=True
+docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros singlemode:=True
 ```
 
 ## Version info