Update README.md

Author: kenneth-gaia

README.md

@@ -9,7 +9,7 @@ Follow the instructions from [here](https://github.com/Unity-Technologies/Unity-
 
 ## ROS2/Gaia app setup
 
-This section assumes you have Gaia (March release) and ROS2 (Foxy) installed and properly configured.
+This section assumes you have the sans libc++ build of Gaia (install .deb from [here](https://drive.google.com/file/d/1GkT4SqxW3cwAwHLpi4nznjWUkFjPWFwp/view?usp=sharing) and ROS2 (Foxy) installed and properly configured.
 
 1. `git clone` this repo someplace.
 2. `cd [path_to_where_you_cloned_this_repo]/Ros/src`. You should see 3 directories: `danger_zone`, `danger_zone_msgs`,
@@ -26,23 +26,21 @@ This section assumes you have Gaia (March release) and ROS2 (Foxy) installed and
    4. `git checkout ROS2`
 5. After sourcing your ROS environment and all your workspaces, run `rosdep install -y -i --from-paths src` at the root
    of your ROS workspace to pickup any dependencies.
-6. Run `colcon build` to build all packages
+6. Run `colcon build` to build all packages.
 
-* Special Gaia.Preview build instructions 
-
-As of 20210901 if building against Gaia.Preview, as special sans libc++ build of GaiaPlatform is needed. 
-This is not an official or supported realease, it is just here for a limited time to work around the Gaia/ROS build issue.
-The build can be found at: https://drive.google.com/file/d/1GkT4SqxW3cwAwHLpi4nznjWUkFjPWFwp/view?usp=sharing 
+## Unity setup
+1. Install the latest 20x LTS build of the Unity Editor.
+2. Follow the Unity instructions [here](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/setup.md#-unity-setup) to install the Robotics package for Unity.
 
 # Running the simulation
 
-1. On the ROS/Gaia hosting machine
-   1. Source your ROS under/overlays
+1. On the ROS/Gaia hosting machine...
+   1. Source your ROS under/overlays.
    2. Start ROS-TCP-Endpoint:
       `ros2 launch danger_zone bridge_launch.py` 
       - or -
       `ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=[HOST_MACHINE_IP_ADDRESS]`
       1. You can get your host machine's IP address by running `hostname -I`
-   3. Start `danger_zone`: `ros2 launch danger_zone node_launch.py`
-   4. On the machine with the Unity simulation, simply start run the simulation and it will automatically connect to ROS. If not, make sure `HOST_MACHINE_IP_ADDRESS` matches the one supplied inside Unity
+   3. Start `danger_zone`: `ros2 launch danger_zone node_launch.py`.
+   4. On the machine with the Unity simulation, simply start run the simulation and it will automatically connect to ROS. If not, make sure `HOST_MACHINE_IP_ADDRESS` matches the one supplied inside Unity.