Update README (#15)

* add png Signed-off-by: Ian Chen <[email protected]> * update readme Signed-off-by: Ian Chen <[email protected]> * Remove harmonic cmd Signed-off-by: Ian Chen <[email protected]> --------- Signed-off-by: Ian Chen <[email protected]>
gazebosim · Sep 27, 2024 · 0630646 · 0630646
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diff --git a/README.md b/README.md
@@ -1,7 +1,7 @@
 # ionic_demo
 Ionic demo world and resources
 
-![image](https://github.com/user-attachments/assets/4b6da5bc-d2ce-4b5f-ac97-f6f238200123)
+![](media/ionic-demo-world.png)
 
 Usage:
 
@@ -11,11 +11,6 @@ cd ionic_demo/ionic_demo/worlds
 gz sim -v 4 ionic.sdf
 ```
 
-In Harmonic:
-```
-sudo apt install ros-rolling-ros-gz
-```
-
 # Running the navigation demo
 
 ![](media/ionic-nav-demo-faster-smaller.gif)
@@ -104,4 +99,9 @@ ros2 run rmf_demos_tasks dispatch_delivery -p bar -ph moveit_dispenser -d table_
 
 # Troubleshooting
 
+* If the demo world is laggy, try disabling global illumination by editing the
+`ionic_demo/worlds/ionic.sdf` world file and setting the
+`GlobalIllumincationVct` plugin's [<enabled>](https://github.com/gazebosim/ionic_demo/blob/2350def5a74f3d75e131711fedd217d57527a64f/ionic_demo/worlds/ionic.sdf#L32)
+property to `false`.
+
 * If there are communication/middleware related issues while running the demos, we recommend trying again [using a different RMW implementation](https://docs.ros.org/en/jazzy/How-To-Guides/Working-with-multiple-RMW-implementations.html#specifying-rmw-implementations), for example `rmw_cyclonedds_cpp`.
diff --git a/media/ionic-demo-world.png b/media/ionic-demo-world.png