update README

README.md

@@ -4,11 +4,24 @@ universal_robot
 This repository provides ROS support for the universal robots.  This repo holds source code for all versions > groovy.  For those versions <= groovy see: hg https://kforge.ros.org/ros_industrial/universal_robot
 
 To check that the package works with a UR5, set up a catkin workspace and clone the repository into the src/ folder. It should look like ~/catkin_ws/src/universal_robot. Don't forget to source the setup file ($ source ~/catkin_ws/devel/setup.*sh), then use catkin_make to compile.
-You can then start the driver with the following commands (start new terminals, don't forget to source the setup shell files):
 
-$ roslaunch ur_bringup ur5.launch robot_ip:=IP_OF_THE_ROBOT
 
-$ roscd ur_driver; ./test_move.py
+The following will show the commands needed to bringup either REAL or SIMULATED robots.
+Both robots (ur5 and ur10) can be used in the same way. Simply replace the prefix accordingly.
+For each command use a new terminal (don't forget to source the setup shell files)!
+
+To bring up the REAL robot, run:
+
+'''roslaunch ur_bringup ur5.launch robot_ip:=IP_OF_THE_ROBOT'''
+
+To bring up the SIMULATED robots, run:
+
+'''roslaunch ur_gazebo ur5.launch'''
+
+A simple test script that moves the robot to predefined positions can be executed like this:
+
+'''roscd ur_driver; ./test_move.py'''
+
 
 BEWARE:
 Remember that you should always have your hands on the big red button in case there is something in the way, or anything unexcpected happens.
@@ -16,22 +29,30 @@ Remember that you should always have your hands on the big red button in case th
 
 
 Additionally, you can use MoveIt! to control the robot.
-For setting up the MoveIt! nodes to allow motion planning, run in a new terminal:
+For setting up the MoveIt! nodes to allow motion planning with the REAL robot, run:
+
+'''roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch'''
+
+For setting up the MoveIt! nodes to allow motion planning with the SIMULATED robot, run:
 
-$ roslaunch ur5_moveit_config move_group.launch
+'''roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true'''
 
-In order to be able to use RViz to trigger Planning Request using the MoveIt! Plugin for RViz, run in a new terminal:
+In order to be able to use RViz to trigger Planning Request using the MoveIt! Plugin for RViz, run:
 
-$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
+'''roslaunch ur5_moveit_config moveit_rviz.launch config:=true'''
 
 NOTE: 
-As MoveIt! seems to have difficulties with finding plans for the UR with joint limits [-2pi, 2pi], there is a joint_limited version using joint limits [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited' for both ur_bringup robot.launch and urX_moveit_conifg move_group.launch:
+As MoveIt! seems to have difficulties with finding plans for the UR with joint limits [-2pi, 2pi], there is a joint_limited version using joint limits [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited':
 
-$ roslaunch ur_bringup ur5.launch limited:=true robot_ip:=IP_OF_THE_ROBOT
+'''roslaunch ur_bringup ur5.launch limited:=true robot_ip:=IP_OF_THE_ROBOT'''
+OR
+'''roslaunch ur_gazebo ur5.launch limited:=true'''
 
-$ roslaunch ur5_moveit_config move_group.launch limited:=true
+'''roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true'''
+OR
+'''roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true sim:=true'''
 
-$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
+'''roslaunch ur5_moveit_config moveit_rviz.launch config:=true'''