diff --git a/README.md b/README.md
index b2ad764..a86bca6 100644
--- a/README.md
+++ b/README.md
@@ -5,8 +5,26 @@ A ROS package for multi-agent formation/rendezvous
 ### Acknowledgement
 
    Xu Fang, [Chen Wang](https://wang-chen.github.io), [Lihua Xie](https://www.ntu.edu.sg/home/elhxie/), [Jie Chen](https://baike.baidu.com/item/%E9%99%88%E6%9D%B0/3890094), "Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader", IEEE Transactions on Cybernetics, 2020.
+
+
+## Install Dependencies
+
+   ** Only Ubuntu 16 (ROS Kinetic) is supported
+
+      sudo apt install python-tk
+      sudo apt install ros-kinetic-hector-*
+      sudo apt install ros-kinetic-hardware-interface
+      sudo apt install ros-kinetic-controller-interface
+      sudo apt install ros-kinetic-gazebo-ros-control
    
-     
+   Put following repo in your ROS workspace
+
+      https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor
+
+## Run
+      roslaunch formation multiquadcopters.launch
+
+
 # The simulation for formation control:
      
    [<img src="https://img.youtube.com/vi/TrHX4kf0_jU/maxresdefault.jpg" width="100%">](https://youtu.be/TrHX4kf0_jU)
@@ -14,3 +32,15 @@ A ROS package for multi-agent formation/rendezvous
 # The simulation for rendezvous control (pursuit):
 
    [<img src="https://img.youtube.com/vi/-UGwG7mGVNw/maxresdefault.jpg" width="100%">](https://youtu.be/-UGwG7mGVNw)
+
+
+
+
+
+
+
+
+
+
+
+docker run -it -v /home/jeff/kinetic_ws:/home/kinetic_ws --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" chenwang/ros-kinetic-desktop-full bash
\ No newline at end of file
diff --git a/launch/record_data.launch b/launch/record_data.launch
deleted file mode 100644
index ff9dd31..0000000
--- a/launch/record_data.launch
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-	<node pkg="formation" type="uwb_node" name="uwb_node" output="screen" args="/dev/ttyACM0 usb">
-		<param name="videoport" value="0" />
-		<param name="hz" value="10" />
-	</node>
-
-    <node respawn="true" pkg="imuSbg" type="imuSbg_node" name="imu_node" >
-        <param name="imuSbgSerialPort" type="string" value="/dev/ttyUSB0" />
-	    <param name="imuSbgNodeRate" type="string" value="50"/>
-    </node>
-
-    <node respawn="true" pkg="viconXbee" type="viconXbee_node" name="vicon_node" >
-        <param name="viconSerialPort" type="string" value="/dev/ttyUSB2" />
-	    <param name="viconNodeRate" type="string" value="40"/>
-    </node>
-
-    <node pkg="rosbag" type="record" name = "imu_uwb_bag" output="screen" args="-o $(find formation)/launch/dis_imu_vicon /imu_node/imuSbgTopic /vicon_node/mocap/pose  /uwb_dis">
-        </node>
-
-<!--
-
-	<node pkg="camera" type="recorder" name="recorder" output="screen" if="$(arg record_flag)">
-             <param name="/database" value="$(find camera)/database/"/>
-	</node>
--->
-</launch>
diff --git a/launch/record_play_simulation.launch b/launch/record_play_simulation.launch
deleted file mode 100644
index fd9b4b7..0000000
--- a/launch/record_play_simulation.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-
-    <node pkg="rosbag" type="play" name = "imu_uwb_bag" output="screen" args="-l $(find formation)/launch/dis_imu_vicon_2015-09-07-17-47-56.bag">
-        </node>
-    
-    <node name="broadcaster" pkg="formation" type="formationfilter.py" respawn="false" output="screen" >
-    </node>
- 
-    <node name="rviz" pkg="rviz" type="rviz" respawn="false">
-    </node>
-
-<!--
-
-	<node pkg="camera" type="recorder" name="recorder" output="screen" if="$(arg record_flag)">
-             <param name="/database" value="$(find camera)/database/"/>
-	</node>
--->
-</launch>
diff --git a/launch/record_simulation.launch b/launch/record_simulation.launch
deleted file mode 100644
index 70d9ae8..0000000
--- a/launch/record_simulation.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-
-    <node pkg="rosbag" type="record" name = "imu_uwb_bag" output="screen" args="-o $(find formation)/launch/dis_imu_vicon -a">
-        </node>
-
-<!--
-
-	<node pkg="camera" type="recorder" name="recorder" output="screen" if="$(arg record_flag)">
-             <param name="/database" value="$(find camera)/database/"/>
-	</node>
--->
-</launch>
diff --git a/launch/rendevous_average.launch b/launch/rendevous_average.launch
deleted file mode 100644
index ef8f09f..0000000
--- a/launch/rendevous_average.launch
+++ /dev/null
@@ -1,65 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-   <arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_cam.gazebo.xacro" />
-
-   <include file="$(find hector_gazebo_worlds)/launch/rolling_landscape_120m.launch"/>
-   
-   <group ns="uav0">
-      <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
-        <arg name="name" value="uav0" />
-        <arg name="tf_prefix" value="uav0" />
-        <arg name="model" value="$(arg model)"/> 
-        <arg name="x" value="6.0" />
-        <arg name="y" value="-3" />
-      </include>
-      <node name="controller" pkg="formation" type="rendezvous_controller.py" respawn="false" output="screen"
-            args="uav0">
-      </node>
-      <node name="rendezvous" pkg="formation" type="rendezvous_node" respawn="false" output="screen">
-      </node>
-    </group>
-
-   <group ns="uav1">
-     <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
-       <arg name="name" value="uav1" />
-       <arg name="tf_prefix" value="uav1" />
-       <arg name="model" value="$(arg model)" />
-       <arg name="y" value="-4.0" />
-     </include>
-      <node name="controller" pkg="formation" type="rendezvous_controller.py" respawn="false" output="screen"
-            args="uav1">
-      </node>
-      <node name="rendezvous" pkg="formation" type="rendezvous_node" respawn="false" output="screen">
-      </node>
-   </group>
-
-   <group ns="uav2">
-     <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
-       <arg name="name" value="uav2" />
-       <arg name="tf_prefix" value="uav2" />
-       <arg name="model" value="$(arg model)" />
-       <arg name="y" value="3.0" />
-     </include>
-      <node name="controller" pkg="formation" type="rendezvous_controller.py" respawn="false" output="screen"
-            args="uav2">
-      </node>
-      <node name="rendezvous" pkg="formation" type="rendezvous_node" respawn="false" output="screen">
-      </node>
-   </group>
-   
-   <group ns="target">
-      <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
-        <arg name="name" value="target" />
-        <arg name="tf_prefix" value="target" />
-        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor.gazebo.xacro"/>
-        <arg name="x" value="2.0" />
-        <arg name="y" value="0.0" />
-      </include>
-      <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch"/>
-   </group>
- 
-   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find formation)/rviz/multiquadcopter.rviz">
-   </node>
-
-
-</launch>
diff --git a/launch/rendevous_average_more.launch b/launch/rendevous_average_more.launch
deleted file mode 100644
index dd1c5a2..0000000
--- a/launch/rendevous_average_more.launch
+++ /dev/null
@@ -1,65 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-   <arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_cam.gazebo.xacro" />
-
-   <include file="$(find hector_gazebo_worlds)/launch/rolling_landscape_120m.launch"/>
-   
-   <group ns="uav0">
-      <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
-        <arg name="name" value="uav0" />
-        <arg name="tf_prefix" value="uav0" />
-        <arg name="model" value="$(arg model)"/> 
-        <arg name="x" value="0.0" />
-        <arg name="y" value="-3" />
-      </include>
-      <node name="controller" pkg="formation" type="rendezvous_controller.py" respawn="false" output="screen"
-            args="uav0 uav1 uav2">
-      </node>
-      <node name="rendezvous" pkg="formation" type="rendezvous_node" respawn="false" output="screen">
-      </node>
-    </group>
-
-   <group ns="uav1">
-     <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
-       <arg name="name" value="uav1" />
-       <arg name="tf_prefix" value="uav1" />
-       <arg name="model" value="$(arg model)" />
-       <arg name="y" value="-4.0" />
-     </include>
-      <node name="controller" pkg="formation" type="rendezvous_controller.py" respawn="false" output="screen"
-            args="uav1 uav0 uav2">
-      </node>
-      <node name="rendezvous" pkg="formation" type="rendezvous_node" respawn="false" output="screen">
-      </node>
-   </group>
-
-   <group ns="uav2">
-     <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
-       <arg name="name" value="uav2" />
-       <arg name="tf_prefix" value="uav2" />
-       <arg name="model" value="$(arg model)" />
-       <arg name="y" value="3.0" />
-     </include>
-      <node name="controller" pkg="formation" type="rendezvous_controller.py" respawn="false" output="screen"
-            args="uav2 uav1 uav0">
-      </node>
-      <node name="rendezvous" pkg="formation" type="rendezvous_node" respawn="false" output="screen">
-      </node>
-   </group>
-   
-   <group ns="target">
-      <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
-        <arg name="name" value="target" />
-        <arg name="tf_prefix" value="target" />
-        <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor.gazebo.xacro"/>
-        <arg name="x" value="2.0" />
-        <arg name="y" value="0.0" />
-      </include>
-      <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch"/>
-   </group>
- 
-   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find formation)/rviz/multiquadcopter.rviz">
-   </node>
-
-
-</launch>
diff --git a/launch/simulation.launch b/launch/simulation.launch
deleted file mode 100644
index f961d21..0000000
--- a/launch/simulation.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <include file="$(find hector_quadrotor_demo)/launch/outdoor_flight_gazebo.launch"/>
-    <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch"/>
-    <node name="VisionUWBfilter" pkg="formation" type="visualuwbfilter.py" respawn="false" output="screen" >
-    </node>
-
-<!--
-    <node pkg="visualuwb" type="frame_listener.py" 
-          name="listener" output="screen" />
-
--->
-</launch>