formatting

Author: iche033

sensor_noise/tutorial-7_0.md

@@ -102,15 +102,15 @@ To test the ray noise model:
 
         gazebo
 
-1. Insert a noisy laser: in the left pane, select the "Insert" tab, then click on "Noisy laser".  Drop your laser somewhere in the world.
+1. Insert a noisy laser: in the left pane, select the `Insert` tab, then click on `Noisy laser`.  Drop your laser somewhere in the world and place a box in front of it.
 
     [[file:files/Noisy_laser_inserted.png|640px]]
 
 1. Visualize the noisy laser: click on Window->Topic Visualization (or press Ctrl-T) to bring up the Topic Selector.
 
     [[file:files/Topic_visualizer.png|640px]]
 
-1. Find the the topic with a name like "/gazebo/default/hokuyo/link/laser/scan" and click on it, then click "Okay".  You'll get get a Laser View window that shows you the laser data.
+1. Find the the topic with a name like `/gazebo/default/hokuyo/link/laser/scan` and click on it, then click `Okay`.  You'll get get a Laser View window that shows you the laser data.
 
     [[file:files/Noisy_laser_visualizer.png|640px]]
 
@@ -216,11 +216,11 @@ To test the camera noise model:
 
         gazebo
 
-1. Insert a noisy camera: in the left pane, select the "Insert" tab, then click on "Noisy camera".  Drop your camera somewhere in the world.
+1. Insert a noisy camera: in the left pane, select the `Insert` tab, then click on `Noisy camera`.  Drop your camera somewhere in the world.
 
 1. Visualize the noisy camera: click on Window->Topic Visualization (or press Ctrl-T) to bring up the Topic Selector.
 
-1. Find the the topic with a name like "/gazebo/default/camera/link/camera/image" and click on it, then click "Okay".  You'll get get a Image View window that shows you the image data.
+1. Find the the topic with a name like `/gazebo/default/camera/link/camera/image` and click on it, then click `Okay`.  You'll get get a Image View window that shows you the image data.
 
     [[file:files/Noisy_camera_visualizer.png|640px]]
 
@@ -372,11 +372,11 @@ To test the IMU noise model:
 
         gazebo
 
-1. Insert a noisy IMU: in the left pane, select the "Insert" tab, then click on "Noisy IMU".  Drop your IMU somewhere in the world.
+1. Insert a noisy IMU: in the left pane, select the `Insert` tab, then click on `Noisy IMU`.  Drop your IMU somewhere in the world.
 
 1. Visualize the noisy IMU: click on Window->Topic Visualization (or press Ctrl-T) to bring up the Topic Selector.
 
-1. Find the the topic with a name like "/gazebo/default/imu/link/imu/imu" and click on it, then click "Okay".  You'll get get a Text View window that shows you the IMU data.
+1. Find the the topic with a name like `/gazebo/default/imu/link/imu/imu` and click on it, then click `Okay`.  You'll get get a Text View window that shows you the IMU data.
 
 It can be difficult to appreciate noise on a high-rate sensor like an IMU, especially in a complex system.  You should be able to see the effect of large non-zero means in the noise and/or bias parameters.