Update README.md

Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <[email protected]>
ros-navigation · Aug 18, 2023 · 2580f1a · 2580f1a
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diff --git a/nav2_bringup/README.md b/nav2_bringup/README.md
@@ -20,20 +20,20 @@ Note:
 
 ### Multi-robot Simulation
 
-This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further arugmehts.
+This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
 
-#### cloned
+#### Cloned
 
-This allows to bring up the multiple robots cloning a single robot N times. And the parameter for single robot are loaded from `nav2_multirobot_params_all.yaml` file in default.
-The multiple robots that consists of name and initial pose in YAML format will be launched based on command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`.
+This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default.
+The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`.
 
 Please refer to below examples.
 
 ```shell
 ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
 ```
 
-#### unique
+#### Unique
 
 There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
 

diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -25,15 +25,15 @@
 
 
 def generate_launch_description():
-    '''
-    To bringup multi-robot, give arguments robot name(which is namespace)
-    and pose for initialization.
-    Keep general yaml format.
+    """
+    Bring up the multi-robots with given launch arguments.
+
+    Launch arguments consist of robot name(which is namespace) and pose for initialization.
+    Keep general yaml format for pose information.
     ex) robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
     ex) robots:="robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
                  robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"
-    '''
-
+    """
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')