micro-ROS
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@@ -75,7 +75,7 @@ touch app.c app-colcon.meta
 popd
 ```
 
-For this example we are going to create a ping pong app where a node sends a ping package with a unique identifier using a publisher and the same package is received by a pong subscriber. The node will also answer to:
+For this example we are going to create a ping pong app where a node sends a ping package with a unique identifier using a publisher and the same package is received by a pong subscriber. The node will also answer to pings received from other nodes with a pong message:
 
 ![pingpong](http://www.plantuml.com/plantuml/png/ZOwnIWGn48RxFCNFzSkoUG2vqce5jHEHi1dtWZkPa6GByNntavZY10yknMJu-ORlFwPiOjvvK-d3-M2YOR1uMKvHc93ZJafvoMML07d7h1NAE-DPWblg_na8vnwEx9OeZmzFOt1-BK7AzetJciPxCfRYVw1S0SbRLBEg1IpXPIvpUWLCmZpXIm6BS3addt7uQpu0ZQlxT1MK2r0g-7sfqbsbRrVfMrMwgbev3CDTlsqJGtJhATUmSMrMg5TKwaZUxfcttuMt7m00)
 
@@ -317,9 +317,11 @@ ros2 run micro_ros_agent micro_ros_agent serial --dev [device]
 
 ***TIP:** you can use this command to find your serial device name: `ls /dev/serial/by-id/*`*
 
-And finally, let's check that everything is working. We are going to listen to ping topic to check whether the Ping Pong node is publishing its own pings
+And finally, let's check that everything is working in a new command line. We are going to listen to ping topic to check whether the Ping Pong node is publishing its own pings
 
 ```bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+
 # Subscribe to micro-ROS ping topic
 ros2 topic echo /microROS/ping
 ```
@@ -343,13 +345,17 @@ frame_id: '730417256_1085377743'
 On another command line, let's subscribe to the pong topic
 
 ```bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+
 # Subscribe to micro-ROS pong topic
 ros2 topic echo /microROS/pong
 ```
 
-At this point, we know that our app is publishing pings. Let's check if it also answers to someone else pings:
+At this point, we know that our app is publishing pings. Let's check if it also answers to someone else pings in a new command line:
 
 ```bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+
 # Send a fake ping
 ros2 topic pub --once /microROS/ping std_msgs/msg/Header '{frame_id: "fake_ping"}'
 ```