updated documentation to get it running

README.md

@@ -14,16 +14,33 @@ Includes the following important components:
 
 #### How to Run
 
-1. Source catkin workspace containing ur_robot_driver
+1. Import git submodules.
 
 ```bash
-source catkin_ws/devel/setup.zsh
+git submodule init
+git submodule update
 ```
 
-2. Run the launch file to connect to the UR5 with the calibration file
+2. Make catkin workspace.
 
 ```bash
+cd catkin_ws
+catkin_make
+source devel/setup.zsh
+cd ..
+```
+
+2. Run the following 3 launch files in 3 tabs.
+
+```bash
+# Connect to the UR5e and launch a controller service
 roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.95 kinematics_config:=$(pwd)/calibration.yaml
+
+# Launch MoveIt and connect it to the controller service
+launch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
+
+# Optional: Launch RViz to Visualise the arm
+roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
 ```
 
 3. Run the controller file.