Paramterlized make the xml more easy to read

README.md

@@ -1,36 +1,80 @@
 # MARSIM
-MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
+MARSIM: 轻量化雷达无人机仿真器
+## 目录
+[项目简介与成就](#项目简介与成就) 
 
-Paper is available on Arxiv: https://arxiv.org/abs/2211.10716
+[更新](#更新) 
 
-The video is available on youtube: https://youtu.be/hiRtcq-5lN0
+[环境配置](#环境配置) 
 
-## Update
+[单无人机仿真](#单无人机仿真) 
 
-Ubuntu 20.04 is also supported in ubuntu20 branch.
+[单无人机仿真的动态避障](#单无人机仿真的动态避障) 
 
-**Ten realistic maps (low and high resolution) have been realeased in the realease packages.**
+[多无人机仿真](#多无人机仿真) 
 
-**A new branch that merge with FUEL has been released in the fuel_ubuntu20 branch.**
+[Fuel算法下的仿真](#Fuel算法下的仿真) 
 
-## Prerequisited
+[声明](#声明)
 
-### Ubuntu and ROS
+[未来愿景](#未来愿景)
+
+## 项目简介与成就
+1. 利用LiDAR扫描，把现实环境重建为点云地图。
+2. 硬件平台要求低，可在具有GPU加速的个人电脑上运行。
+3. 支持三种类型的动态障碍物仿真、同时可以进行多无人机系统仿真，以及支持旋转LiDAR的扫描的角度
+论文链接(Arxiv): https://arxiv.org/abs/2211.10716
+
+YouTube视频: https://youtu.be/hiRtcq-5lN0 
+
+【MARSIM: 轻量化雷达无人机仿真器】 https://www.bilibili.com/video/BV1M84y117KG
+
+<p align="center">
+  <a href="https://youtu.be/hiRtcq-5lN0" target="_blank"><img src="figures/coverfigure.png" alt="video" width="800" height="400" border="1" /></a>
+</p>
+
+<p align="center">
+
+  <img src="figures/readme_setgoal.gif" width = "400" height = "237"/>
+
+  <img src="figures/readme_dynobs.gif" width = "400" height = "237"/>
+
+
+  <img src="figures/readme_multiuav.gif" width = "400" height = "237"/>
+
+
+  <img src="figures/readme_exploration.gif" width = "400" height = "237"/>
+</p>
+
+## 更新
+
+现已支持Ubuntu 20.04，可以在ubuntu20分支中找到。
+
+
+**已在发布包中发布了十个逼真的地图（低分辨率和高分辨率）**
+
+**已在fuel_ubuntu20分支中发布了与FUEL合并的新分支**
+
+
+
+## 环境配置
+
+### Ubuntu 和 ROS
 
 Ubuntu 16.04~20.04.  [ROS Installation](http://wiki.ros.org/ROS/Installation).
 
 ### PCL && Eigen && glfw3
 
-PCL>=1.6, Follow [PCL Installation](https://pointclouds.org/). 
+PCL>=1.6, 参考 [PCL Installation](https://pointclouds.org/). 
 
-Eigen>=3.3.4, Follow [Eigen Installation](https://eigen.tuxfamily.org/index.php?title=Main_Page).
+Eigen>=3.3.4, 参考 [Eigen Installation](https://eigen.tuxfamily.org/index.php?title=Main_Page).
 
 glfw3:
 ```
 sudo apt-get install libglfw3-dev libglew-dev
 ```
 
-### make
+### Make
 ```
 mkdir -p marsim_ws/src
 cd marsim_ws/src
@@ -39,31 +83,49 @@ cd ..
 catkin_make
 ```
 
-## run the simulation
+## 单无人机仿真
 
 ```
 source devel/setup.bash
 roslaunch test_interface single_drone_avia.launch
 ```
-Click on 3Dgoal tool on the Rviz, you can give the UAV a position command to control its flight.
+在Rviz上点击3Dgoal，就可以给无人机发送位置指令了，我们可以观察到，无人机自动抵达他的目标位置。
+
+目前，我们为用户提供了几个Launch文件，可以在test_interface/launch文件夹中找到。
+
+您可以更改Launch文件中的参数来更改地图, 和需要模拟的LiDAR。地图已上传至此仓库的发布文件中。
+
+```
+    <arg name="map_name" value="$(find map_generator)/resource/small_forest01cutoff.pcd"/>
+
+```
+
+**如果想使用MARSIM的GPU加速模式，请将参数"use_gpu"设置为true。**
 
-For now, we provide several launch files for users, which can be found in test_interface/launch folder.
+## 单无人机仿真的动态避障
+```
+source devel/setup.bash
+roslaunch test_interface single_drone_mid360_dynobs.launch
+```
 
-You can change the parameter in launch files to change the map and LiDAR to be simulated.
+## 多无人机仿真
+```
+source devel/setup.bash
+roslaunch test_interface triple_drone_mid360.launch
+```
 
-** If you want to use the GPU version of MARSIM, please set the parameter "use_gpu" to true. **
+## Fuel算法下的仿真
 
-## run the simulation with FUEL algorithm
+首先需要将分支切换到fuel_ubuntu20分支。如果使用的是Ubuntu 20.04，您应该首先下载Nlopt并将其安装在您的ROS环境中。然后，可以通过以下命令运行仿真：
 
-You should first change the branch to fuel_ubuntu20 branch. If you are using ubuntu 20.04, you should first download Nlopt and make install it in your environment. Then you can run the simulation by the command below:
 ```
 source devel/setup.bash
 roslaunch exploration_manager exploration.launch
 ```
-Then click on 2Dgoal tool on the Rviz, randomly click on the map, and FUEL would automously run.
+然后在Rviz上点击2Dgoal工具，随机点击地图，FUEL将自动运行。
 
-## Acknowledgments
-Thanks for [FUEL](https://github.com/HKUST-Aerial-Robotics/FUEL.git)
+## 声明
+感谢 [FUEL](https://github.com/HKUST-Aerial-Robotics/FUEL.git)
 
-## Future
-More realistic maps and functions are going to be released soon.
+## 未来愿景
+我们将很快发布更高多真实的地图和功能。