added readme

README.md

+# MoveIt Manipulation Package
+
+Forked juli 2020 and extended with adaption of velocity / acceleration.
+
+## How to install it:
+
+* navigate into the src-folder of your workspace
+* create a folder with the name "moveit_ros"
+* cd into this folder and create another one with the same name
+* cd again into the newly created folder
+* clone the package into that folder
+
+## How to modify the velocity:
+
+You can do this by the configuration of four parameters in the parameter-server of ROS:
+
+* max_grasp_approach_velocity (max velocity from start-pose to pre-approach pose and starting from pre-place-approach pose)
+* max_grasp_approach_acceleration (max acceleration from start-pose to pre-approach pose and starting from pre-place-approach pose)
+* max_grasp_transition_velocity (max velocity from post-grasp pose to pre-place-approach pose)
+* max_grasp_transition_acceleration (max acceleration from post-grasp pose to pre-place-approach pose)