readme changes

README.md

@@ -138,36 +138,36 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
 
 ## ROS NODES
 - LinkState.py determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test.
->> Publishes to:
+### Publishes to:
 		/status/twoBody_status # localization and angles
 		/status/path_follow    # boolean to run trajectory test
->> Subscribes to:
+### Subscribes to:
 		none
 - ref_signalGen.py takes in desired position (xd) and determines smooth path trajectory.
->> Publishes to:
+### Publishes to:
 		/reference/path			# smooth path
 		/reference/flatsetpoint    	# needed to determine thrust
->> Subscribes to:
+### Subscribes to:
 		/status/twoBody_status
 		/mavros/local_position/velocity_body
 		/mavros/imu/data
 		/mavros/state
 		/reference/waypoints
 - klausen_control.py determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
->> Publishes to:
+### Publishes to:
 		/command/quaternions		# attitude commands
 		/reference/flatsetpoint    	# needed to determine thrust
->> Subscribes to:
+### Subscribes to:
 		/status/twoBody_status
 		/reference/path
 		/mavros/imu/data
 		/mavros/local_position/velocity_body
-- node from mavros_controllers/geometric_controller subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
+- node from __mavros_controllers/geometric_controller__ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
 - path_follow.cpp sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands.
->> Publishes to:
+### Publishes to:
 		mavros/setpoint_position/local		# needed to hover @ set height	
 		mavros/setpoint_raw/attitude		# attitude and thrust commands 	
->> Subscribes to:
+### Subscribes to:
 		/command/quaternions	
 		/command/bodyrate_command	
 		/mavros/state