From 601496f3df6f62faf9ac5d74f45a795d0a3bd63e Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Wed, 24 Jan 2024 11:01:27 -0400
Subject: [PATCH] Basic working example

---
 README.md                          | 2 ++
 skel/spiri-sdk/docker-compose.yaml | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index baa775a..9709110 100644
--- a/README.md
+++ b/README.md
@@ -16,3 +16,5 @@ From inside the SDK use the following commands to start gazebo and a virtual dro
 cd ~/sdk/
 docker compose up
 ```
+
+Run `gzclient` to launch gazebo, then insert a `3DR Iris` and your simulated drone will be ready for takeoff.
diff --git a/skel/spiri-sdk/docker-compose.yaml b/skel/spiri-sdk/docker-compose.yaml
index 37c4283..10e2cb2 100644
--- a/skel/spiri-sdk/docker-compose.yaml
+++ b/skel/spiri-sdk/docker-compose.yaml
@@ -9,7 +9,7 @@ services:
     # command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
     command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
     ports:
-      - 127.0.0.1:11345:11345
+      - "127.0.0.1:11345:11345"
 
   robot-coprocessor-simulation:
     image: git.spirirobotics.com/spiri/px4-sim:master
@@ -30,7 +30,7 @@ services:
   mavros:
     #This service bridges our mavlink-based robot-coprosessor into ROS
     #In this example it connects to a simulated coprocessor.
-    image: radarku/mavros
+    image: git.spirirobotics.com/spiri/spiri-sdk-mavros:master
     command: roslaunch mavros px4.launch fcu_url:="udp://:14540@robot-coprocessor-simulation:14541"
     environment:
       - "ROS_MASTER_URI=http://ros-master:11311"