updated md

Author: cassinaj

README.md

@@ -1,6 +1,6 @@
 # ROS Depth-Based Robot Tracking Package (dbrt)
 
-This package extends the object tracking packages, dbot and dbot_ros to track 
+This package extends the object tracking packages dbot and dbot_ros to track 
 articulated rigid bodies with several degree of freedom. In addition to depth
 images, the robot tracker incorporates joint angle measurements at a higher 
 rate, typically 100Hz-1kHz. Here are some of the core features
@@ -19,15 +19,15 @@ rate, typically 100Hz-1kHz. Here are some of the core features
 First follow the steps of setting up the object tracking as described in
 Check out the [dbrt_getting_started](https://git-amd.tuebingen.mpg.de/open-source/dbrt_getting_started.git)
 for a full example of a robot setup with recorded data. You can find the setup 
-steps in the (Getting Started)[https://github.com/bayesian-object-tracking/getting_started#robot-tracking]
+steps in the [Getting Started](https://github.com/bayesian-object-tracking/getting_started#robot-tracking)
 documentation.
 
 ## Setting Up Your Own Robot
-Provided a URDF, you only need adapt the Fusion Tracker config. For that take 
-the [dbrt_example](https://git-amd.tuebingen.mpg.de/open-source/dbrt_getting_started/tree/master/dbrt_example)
-as an example. 
+Provided a URDF, you only need to adapt the fusion tracker config. Take a look 
+at the [dbrt_example](https://git-amd.tuebingen.mpg.de/open-source/dbrt_getting_started/tree/master/dbrt_example)
+to get started.
 
-In the Fusion Tracker config file, you have map all the joint names to 
+In the fusion tracker config file, you have to map all the joint names to 
 uncertainty standard deviations for the joint process model and joint 
 observation models. The [dbrt_example](https://git-amd.tuebingen.mpg.de/open-source/dbrt_getting_started/tree/master/dbrt_example) 
 package provides a good starting point.
@@ -37,7 +37,7 @@ package provides a good starting point.
 In case your URDF model does not specify a camera link, you have to attach 
 one to some part of the robot where the camera is mounted. This requires 
 connecting a camera link through a joint to another link of the robot. Take a 
-look at (head.urdf.xacro)[https://git-amd.tuebingen.mpg.de/open-source/dbrt_getting_started/blob/master/apollo_robot_model/models/head.urdf.xacro#L319].
+look at [head.urdf.xacro](https://git-amd.tuebingen.mpg.de/open-source/dbrt_getting_started/blob/master/apollo_robot_model/models/head.urdf.xacro#L319) .
 The XTION camera link *XTION_RGB* is linked to the link *B_HEAD* through the 
 joint *XTION_JOINT*. The transformation between the camera and the robot is not 
 required to be very precise. However, it must be accurate enough to provide