From 708c6f24e722f4bcedc3381362e64213e82ef97f Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Thu, 8 Apr 2021 11:22:59 +0800
Subject: [PATCH] updated readme

---
 README.md                                     | 17 ++++++-----------
 .../launch/scout_minimal_uart.launch          | 19 -------------------
 2 files changed, 6 insertions(+), 30 deletions(-)
 delete mode 100644 scout_bringup/launch/scout_minimal_uart.launch

diff --git a/README.md b/README.md
index 0345da2..8be5546 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,10 @@
 # ROS Packages for Scout Mobile Robot
 
+**Important Note:** Currently we're transitioning the communication protocol from version 1 to version 2. Please check with Weston Robot or AgileX Robotics to confirm which version your robot is using. 
+
+* V1 Protocol: master branch of scout_ros and ugv_sdk
+* V2 Protocol: v2.x branch of scout_ros and ugv_sdk
+
 ## Packages
 
 This repository contains minimal packages to control the scout robot using ROS. 
@@ -40,7 +45,6 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
 1. Install dependent libraries
 
     ```
-    $ sudo apt install -y libasio-dev
     $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
     ```
 
@@ -50,8 +54,8 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
 
     ```
     $ cd ~/catkin_ws/src
-    $ git clone -b v2.x https://github.com/westonrobot/ugv_sdk.git
     $ git clone https://github.com/westonrobot/async_port.git
+    $ git clone -b v2.x https://github.com/westonrobot/ugv_sdk.git
     $ git clone -b v2.x https://github.com/westonrobot/scout_ros.git
     $ cd ..
     $ catkin_make
@@ -72,15 +76,6 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
     - model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = [scout_v2.xacro](scout_base/description/scout_v2.xacro)
     - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
 
-    or (if you're using a serial port)
-        
-    ```
-    $ roslaunch scout_bringup scout_minimal_uart.launch
-    ```
-
-    - Similarly, the [scout_bringup_uart.launch](scout_bringup/launch/scout_minimal_uart.launch) has the same 4 parameters with port_name default = "/dev/ttyUSB0".
-
-
 * Start the keyboard tele-op node
 
     ```
diff --git a/scout_bringup/launch/scout_minimal_uart.launch b/scout_bringup/launch/scout_minimal_uart.launch
deleted file mode 100644
index e29fa48..0000000
--- a/scout_bringup/launch/scout_minimal_uart.launch
+++ /dev/null
@@ -1,19 +0,0 @@
-<launch>
-
-    <arg name="port_name" value="/dev/ttyUSB0" />
-    <arg name="simulated_robot" value="false" />
-    <arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
-    <arg name="odom_topic_name" default="odom" />
-
-    <include file="$(find scout_base)/launch/scout_base.launch">
-        <arg name="port_name" default="$(arg port_name)" />
-        <arg name="simulated_robot" default="$(arg simulated_robot)" />
-        <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
-
-    </include>
-
-    <include file="$(find scout_description)/launch/description.launch">
-        <arg name="model_xacro" default="$(arg model_xacro)" />
-    </include>
-
-</launch>
\ No newline at end of file