Fix README markdown.

Author: Felix Widmaier

README.md

@@ -2,32 +2,38 @@ Using Boost::Python with catkin
 ===============================
 
 This is a minimal example of how to use Boost::Python in a catkin package.
-As there is little helpful documentation about this topic on the internet, I try to summarize
-all necessary steps here.
+As there is little helpful documentation about this topic on the internet, I
+try to summarize all necessary steps here.
 
-First you need some C++ code. `src/mycpplib.cpp` contains a simple hello world function that is
-made available for Python using Boost::Python. (see documentation of Boost::Python for more
-details on how to use it).
+First you need some C++ code. `src/mycpplib.cpp` contains a simple hello world
+function that is made available for Python using Boost::Python. (see
+documentation of Boost::Python for more details on how to use it).
 
-To compile it and make it available for python, some configuration in the CMakeLists.txt has to
-be done:
+To compile it and make it available for python, some configuration in the
+CMakeLists.txt has to be done:
 
 
 Configure cmake
 ---------------
 
  1. You need Boost::Python and the path to the python include dirs:
+
         find_package(Boost REQUIRED COMPONENTS python)
         find_package(PythonLibs REQUIRED) # sets ${PYTHON_INCLUDE_DIRS}
+
     Make sure to add them to the include directories:
+
         include_directories(
           ${catkin_INCLUDE_DIRS}
           ${Boost_INCLUDE_DIRS}
           ${PYTHON_INCLUDE_DIRS}
         )
- 2. uncomment `catkin_python_setup()`. This will set up the destination path of the python
-    module. You also need a basic _setup.py_ in the packages root directory.
+
+ 2. uncomment `catkin_python_setup()`. This will set up the destination path of
+    the python module. You also need a basic _setup.py_ in the packages root
+    directory.
  3. add a library:
+
         add_library(mycpplib SHARED
           src/mycpplib.cpp
         )
@@ -40,45 +46,50 @@ Configure cmake
           PREFIX "" 
           LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
         )
-    The last command is important because it will change the destination of the compiled library
-    from `/catkin_ws/devel/lib/` to `/catkin_ws/devel/lib/python2.7/dist-packages/` so it can be
-    found by python.
-    Also don't forget the `SHARED` in `add_library`.
+
+    The last command is important because it will change the destination of the
+    compiled library from `/catkin_ws/devel/lib/` to
+    `/catkin_ws/devel/lib/python2.7/dist-packages/` so it can be found by
+    python.  Also don't forget the `SHARED` in `add_library`.
 
 
 Use the module
 --------------
 
-After you compiled the package, you should be able to use the wrapped module in Python:
+After you compiled the package, you should be able to use the wrapped module in
+Python:
 
-        import boostpy_test.libmycpplib as cpp
-        cpp.hello()
+    import boostpy_test.libmycpplib as cpp
+    cpp.hello()
 
 
 Boost::Python and ROS::NodeHandle
 ---------------------------------
 
-When using ROS, there is one important thing to keep in mind: Assume you have a ROS node written
-in Python, that uses some C++ code via Boost::Python.
-If the C++ code needs a `ros::NodeHandle`, for example to fetch some parameters from the
-parameter server, it will crash, because the `rospy.init_node()' does **not** initialize roscpp!
+When using ROS, there is one important thing to keep in mind: Assume you have a
+ROS node written in Python, that uses some C++ code via Boost::Python.  If the
+C++ code needs a `ros::NodeHandle`, for example to fetch some parameters from
+the parameter server, it will crash, because the `rospy.init_node()` does
+**not** initialize roscpp!
 
-To get around this, you need the _MoveIt ROS planning interface_ which is available in the ROS
-repos (`sudo apt-get install ros-groovy-moveit-ros-planning-interface`). Once installed, add
-the following code to your Python node:
+To get around this, you need the _MoveIt ROS planning interface_ which is
+available in the ROS repos
+(`sudo apt-get install ros-groovy-moveit-ros-planning-interface`).
+Once installed, add the following code to your Python node:
+
+    from moveit_ros_planning_interface._moveit_roscpp_initializer import roscpp_init
+    roscpp_init('node_name', [])
 
-        from moveit_ros_planning_interface._moveit_roscpp_initializer import roscpp_init
-        roscpp_init('node_name', [])
-        
 Now everything should work fine.
 
+
 References
 ----------
 
 Some references that were helpful for me in one or the other way:
 
- * This page, that I unfortunatly only found after I figured most of it out by myself, should
-   explain everything...
+ * This page, that I unfortunatly only found after I figured most of it out by
+   myself, should explain everything...
    http://wiki.ros.org/ROS/Tutorials/Using%20a%20C%2B%2B%20class%20in%20Python
  * Boost::Python documentation: http://www.boost.org/doc/libs/1_57_0/libs/python/doc/index.html
  * Using Boost::Python with cmake: https://www.preney.ca/paul/archives/107