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YuZhong-Chen · Sep 27, 2024 · 720d3ec · 720d3ec
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diff --git a/_sources/introduction/quick_start.rst.txt b/_sources/introduction/quick_start.rst.txt
@@ -30,11 +30,12 @@ start the Gazebo simulation with the Kobuki robot.
 4. Generate the 3D Scene Graph by Hydra
 
 In the ``hydra_ws`` directory, use the command ``docker compose run --rm --build hydra-ws-build`` to build the environment.
-After the environment is built, use the command below to generate the 3D scene graph::
+After the environment is built, use the command ``docker compose run --rm hydra-ws`` to run the container,
+and use the command below to generate the 3D scene graph::
 
     cd ~/catkin_ws
     source devel/setup.bash
-    roslaunch hydra_ros uhumans2.launch
+    roslaunch hydra_ros uhumans2.launch zmq_ip:=127.0.0.1
 
 5. Use keyboard teleoperation to move the robot in Gazebo::
 

diff --git a/introduction/quick_start.html b/introduction/quick_start.html
@@ -132,10 +132,11 @@ <h1><span class="section-number">4. </span>Quick start<a class="headerlink" href
 <li><p>Generate the 3D Scene Graph by Hydra</p></li>
 </ol>
 <p>In the <code class="docutils literal notranslate"><span class="pre">hydra_ws</span></code> directory, use the command <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span> <span class="pre">run</span> <span class="pre">--rm</span> <span class="pre">--build</span> <span class="pre">hydra-ws-build</span></code> to build the environment.
-After the environment is built, use the command below to generate the 3D scene graph:</p>
+After the environment is built, use the command <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span> <span class="pre">run</span> <span class="pre">--rm</span> <span class="pre">hydra-ws</span></code> to run the container,
+and use the command below to generate the 3D scene graph:</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">catkin_ws</span>
 <span class="n">source</span> <span class="n">devel</span><span class="o">/</span><span class="n">setup</span><span class="o">.</span><span class="n">bash</span>
-<span class="n">roslaunch</span> <span class="n">hydra_ros</span> <span class="n">uhumans2</span><span class="o">.</span><span class="n">launch</span>
+<span class="n">roslaunch</span> <span class="n">hydra_ros</span> <span class="n">uhumans2</span><span class="o">.</span><span class="n">launch</span> <span class="n">zmq_ip</span><span class="o">:=</span><span class="mf">127.0.0.1</span>
 </pre></div>
 </div>
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