diff --git a/README.md b/README.md
index a9a933a654d4e0dc46778499f4226bee61790919..c0facc67449951b5ce5d3dd41c2819e443f1cd60 100644
--- a/README.md
+++ b/README.md
@@ -3,11 +3,16 @@ 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, 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.
+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
 
+
+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.