diff --git a/README.md b/README.md
index 33b5c1a..9cebdd4 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
-Packages Version: v3.2.1
+Packages Version: v3.4.0
 
 # Introduction
 This package can send control command to real robot from ROS. You can do low-level control(namely control all joints on robot) and high-level control(namely control the walking direction and speed of robot).
 
-This version is suitable for unitree_legged_sdk v3.2 and v3.1, namely A1 and Aliengo robot. Currently, all the A1 and Aliengo use v3.2. If your Aliengo is really old, then it may use v3.1.
-As for Go1, please use the v3.4 release version of this package and unitree_legged_sdk v3.4.
+This version is suitable for unitree_legged_sdk v3.4, namely Go1 robot. 
+As for Aliengo or A1, please use the v3.2 release version of this package and unitree_legged_sdk v3.2.
 
 ## Packages:
 
@@ -13,28 +13,11 @@ Basic message function: `unitree_legged_msgs`
 The interface between ROS and real robot: `unitree_legged_real`
 
 # Dependencies
-* [unitree_legged_sdk](https://github.com/unitreerobotics): If your robot is suitable for `unitree_legged_sdk`, then you do not need `aliengo_sdk`.
-* [aliengo_sdk](https://github.com/unitreerobotics): If your robot is suitable for `aliengo_sdk`, then you do not need `unitree_legged_sdk`.
+* [unitree_legged_sdk](https://github.com/unitreerobotics): v3.4
 
 # Configuration
-Make sure the following exist in your `~/.bashrc` file or export them in terminal. `melodic`, `gazebo-8`, `~/catkin_ws`, `amd64` and the paths to `unitree_legged_sdk` should be replaced in your own case. 
-If your use `unitree_legged_sdk`, then you need to set `UNITREE_SDK_VERSION=3_2` and the path `UNITREE_LEGGED_SDK_PATH`.
-Otherwise, if you use `aliengo_sdk`, you need to set `UNITREE_SDK_VERSION=3_1` and the path `ALIENGO_SDK_PATH`.
-
-```
-source /opt/ros/melodic/setup.bash
-source /usr/share/gazebo-8/setup.sh
-source ~/catkin_ws/devel/setup.bash
-export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
-export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
-export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
-# 3_1, 3_2
-export UNITREE_SDK_VERSION=3_2
-export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
-export ALIENGO_SDK_PATH=~/aliengo_sdk
-# amd64, arm32, arm64
-export UNITREE_PLATFORM="amd64"
-```
+Before compiling this package, users have to modify the path to unitree_legged_sdk under the CMakeLists.txt of unitree_legged_real.
+Just search the "/home/bian/Robot_SDK/unitree_legged_sdk" and change it to your own path. If you are going to compile this package on a computer which is not AMD64 platform, then you have to search "libunitree_legged_sdk.so" under the CMakeLists.txt and change it to the .so file name which is suitable to your computer.
 
 # Build
 You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then:
@@ -42,7 +25,6 @@ You can use catkin_make to build ROS packages. First copy the package folder to
 cd ~/catkin_ws
 catkin_make
 ```
-Before compiling `unitree_legged_real`, please make sure that the `unitree_legged_msgs` has been compiled.
 
 # Setup the net connection
 First, please connect the network cable between your PC and robot. Then run `ifconfig` in a terminal, you will find your port name. For example, `enx000ec6612921`.
@@ -67,17 +49,14 @@ netmask 255.255.255.0
 Where the port name have to be changed to your own.
 
 # Run the package
-You can control your real robot(only A1 and Aliengo) from ROS by this package.
+You can control your real Go1 robot from ROS by this package.
 
-First you have to run the `real_launch` under root account:
 ```
-sudo su
-source /home/yourUserName/catkin_ws/devel/setup.bash
-roslaunch unitree_legged_real real.launch rname:=a1 ctrl_level:=highlevel firmwork:=3_2
+roslaunch unitree_legged_real real.launch ctrl_level:=highlevel
 ```
-Please watchout that the `/home/yourUserName` means the home directory of yourself. These commands will launch a LCM server. The `rname` means robot name, which can be `a1` or `aliengo`(case does not matter), and the default value is `a1`. And the `ctrl_level` means the control level, which can be `lowlevel` or `highlevel`(case does not matter), and the default value is `highlevel`. Under the low level, you can control the joints directly. And under the high level, you can control the robot to move or change its pose. The `firmwork` means the firmwork version of the robot. The default value is `3_2` Now all the A1's firmwork version is `3_2`.
+This command will launch a LCM server. The `ctrl_level` means the control level, which can be `lowlevel` or `highlevel`(case does not matter), and the default value is `highlevel`. Under the low level, you can control the joints directly. And under the high level, you can control the robot to move or change its pose.
 
-In order to send message to robot, you need to run the controller in another terminal(also under root account):
+In order to send message to robot, you need to run the controller in another terminal:
 ```
 rosrun unitree_legged_real position_lcm
 ```
@@ -87,6 +66,5 @@ position_lcm
 velocity_lcm
 torque_lcm
 ```
-The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
 
-And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.
\ No newline at end of file
+And when you run the high level controller, please make sure the robot is standing on the ground. The high level exmaple only has `walk_lcm`.
\ No newline at end of file