update README

README.md

@@ -4,7 +4,7 @@
 
 #### Getting started
 
-This package only works together with the fully git-modules cloned workspace repository. So first you have to clone everythink like it is described on https://git-st.inf.tu-dresden.de/ceti/ros-internal/panda_gazebo_workspace. Second you have to clone this repository inside the src-folder of the workspace.
+This package was tested with the provided [simulation workspace](https://git-st.inf.tu-dresden.de/ceti/ros-internal/panda_gazebo_workspace). So first you have to clone everything as described in [the README of the workspace](https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace/-/blob/master/README.md). Secondly, you have to clone this repository into the `src` dirctory of the workspace.
 
 #### Running the simulation
 
@@ -17,15 +17,18 @@ roslaunch panda_simulation simulation.launch
 
 #### Teaching poses
 
-You can teach the (simulated) robot several poses which can be replayed in the order there where teached.
+You can teach the (simulated) robot several poses which can be replayed in the order there where taught.
 
 ##### Steps to teach the robot poses
 
+- Teach a new sequence of poses
     1. Drag the robot in rviz to the target destination.
-2. Plan and execute the trajectory.
-3. Use a sourced console and save the pose by typing `rostopic pub /collectPose std_msgs/String 'collect'`.
-4. Do this as much as you want to.
-5. Replay the poses by typing `rostopic pub /replayPose std_msgs/String 'replay'` in a sourced console.
+    2. Plan and execute the trajectory using the rviz planning interface.
+    3. Run `rostopic pub -1 panda_teaching/poseRecorder std_msgs/String 'add'`.
+    4. Repeat steps 1 to 3 as desired.
+- Replay the sequence
+    1. Run `rostopic pub -1 panda_teaching/poseReplayer std_msgs/String 'replay'`.
+- Reset the pose sequence
+    1. Run `rostopic pub -1 panda_teaching/poseRecorder std_msgs/String 'clear'`.
 
-You can also reset the saved poses by typing `rostopic pub /collectPose std_msgs/String 'clear'`.