Merge pull request #54 from cretaceous-creature/master

modify readme

README.md

@@ -5,7 +5,7 @@
 ```
 cd <catkin_ws>
 wstool init src
-wstool merge -t src https://raw.githubusercontent.com/tongtybj/mbzirc/indigo-devel/mbzirc.rosinstall
+wstool merge -t src https://raw.githubusercontent.com/tongtybj/mbzirc/master/mbzirc.rosinstall
 wstool update -t src
 rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
 catkin build
@@ -29,4 +29,30 @@ $ roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_2.launch
 $ rostopic pub -r 10 r_gripper_controller/command std_msgs/Float64 "data: 0.2" # to move gripper
 ```
 
+## Operation notes
+
+### Task1 
+
+- Keyboard teleoperation
+```PL``` for going up and down
+```H``` for Hover stable
+```WASD``` for horizontal direction move
+```QE``` for Yaw
+Hold shift and press above button will accerate the speed of the drone
+
+- Task1 cheat
+A simple demonstration of landing on the truck.
+the cheat program will move the drone if the sim time is less than 2 seconds, 
+first launch the jsk_mbzirc_tasks and then launch the jsk_mbzirc_common
+```
+$ roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch cheat:=true
+$ roslaunch jsk_mbzirc_common mbzirc_arena_1.launch
+```
+
+### Task2
+
+- Keyboard teleoperation
+Using the same keyboard layout for horizontal and yaw control, also enabled Shift key.
+```OC``` for open and close the gripper.
+