update README

README.md

@@ -10,9 +10,29 @@ $ roslaunch ur_bringup ur5.launch robot_ip:=IP_OF_THE_ROBOT
 
 $ 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.
+
+
+
+Additionally, you can use MoveIt! to control the robot.
+For setting up the MoveIt! nodes to allow motion planning, run in a new terminal:
+
+$ roslaunch ur5_moveit_config move_group.launch
+
+In order to be able to use RViz to trigger Planning Request using the MoveIt! Plugin for RViz, run in a new terminal:
+
+$ 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:
+
+$ roslaunch ur_bringup ur5.launch limited:=true robot_ip:=IP_OF_THE_ROBOT
+
+$ roslaunch ur5_moveit_config move_group.launch limited:=true
+
+$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
+
 
-In order to start moveit! s.t. it can directly control the robot, close ur_bringup and type this:
 
-$ roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=IP_OF_THE_ROBOT
 
-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.