Update README.md: better explanations for the different scenarios

README.md

-### Sample applications for ROS combined with a (simulated) Franka Emika Panda robots
+# Sample applications for ROS combined with a (simulated) Franka Emika Panda robots
+
+⚠ This repository must be checked out in a [catkin](http://wiki.ros.org/catkin)
+workspace containing the [franka_description](https://git-st.inf.tu-dresden.de/ceti/ros/franka_description),
+[panda_moveit_config](https://git-st.inf.tu-dresden.de/ceti/ros/panda_moveit_config),
+and [panda_simulation](https://git-st.inf.tu-dresden.de/ceti/ros/panda_simulation) ROS packages provided here.
+For more information and installation instructions, please consult the [main project](https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace).
 
 Contains different examples for the planning and execution of robotic motions with MoveIt in ROS.
 
-##### The different examples:
+## Example Applications
 
-- Planning and simulation based on rviz: `roslaunch panda_simulation simulation.launch`
-    - RViz window to control the robot ([tutorial](http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html))
-    - Gazebo window to observe the executed robot motion
-    - rqt to show log messages
-- Minimal example of an execution of a simple motion: `roslaunch sample_applications sample_minimal_simulation.launch`
-    - Gazebo window to observe the executed robot motion
-- Execution of a simple motion (with tooling): `roslaunch sample_applications sample_simple_simulation.launch`
-    - RViz window to see the plan and trigger the motion (press *next* in the RvizVisualToolGUI)
-    - Gazebo window to observe the executed robot motion
-    - rqt to show log messages
-- Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch`
-    - RViz window to see the plan and trigger the motion (press *next* in the RvizVisualToolGUI)
-    - Gazebo window to observe the executed robot motion
-    - rqt to show log messages
-- Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch`
-    - RViz window to see the plan and trigger the motion (press *next* in the RvizVisualToolGUI)
+Please note that all examples must be run in a built catkin workspace from within
+a shell with all ROS paths properly set up (i.e., after running `source devel/setup.sh`).
+
+### Minimal "Hello World" Example
+
+This example of an execution of a simple motion.
+
+- Command: `roslaunch sample_applications sample_minimal_simulation.launch`
+- Expected results:
+    - A Gazebo window opens in which the executed robot motion can be observed.
+    - The motion starts immediately after the the system has loaded.
+
+### Execution of a Simple Motion with Tooling
+
+This is the same example as the first one, but this time, additional tooling is loaded.
+
+- Command: `roslaunch sample_applications sample_simple_simulation.launch`
+- Expected results:
+    - A Gazebo window to observe the executed robot motion opens
+    - An rqt window to show log messages opens
+    - An RViz window to see the plan and trigger the motion open.
+    - The motion does **not** start automatically, instead it must be triggered by pressing *next* in the RvizVisualToolsGUI within RViz
+
+
+### Execution of a Simple Motion Costrained by a Blocking Object
+
+In this example, an object can be observed in the RViz planning window. This object constrains the motion of the robot, such that the robot moves around it.
+
+- Command: `roslaunch sample_applications sample_constraint_simulation.launch`
+- Expected results:
+    - A Gazebo window to observe the executed robot motion opens
+    - An rqt window to show log messages opens
+    - An RViz window to see the plan and trigger the motion open.
+    - The motion does **not** start automatically, instead it must be triggered by pressing *next* in the RvizVisualToolsGUI within RViz
+
+### Execution of a Velocity Constraint Cartesian Trajectory
+
+- Command: `roslaunch sample_applications simulation.launch`
+- Expected results:
+    - A Gazebo window to observe the executed robot motion opens
+    - An rqt window to show log messages opens
+    - An RViz window to see the plan and trigger the motion open.
+    - The motion does **not** start automatically, instead it must be triggered by pressing *next* in the RvizVisualToolsGUI within RViz
+
+### Planning and Simulation based on RViz
+
+This is an example to use RViz and Gazebo interactively. Motions can be planned and executed from the RViz GUI.
+
+- Command: `roslaunch panda_simulation simulation.launch`
+- Expected results:
+    - RViz window to control the robot
     - Gazebo window to observe the executed robot motion
     - rqt to show log messages
+    - The robot does not move automatically, but can be controlled with RViz (cf. the [tutorial](http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html))
+
+
+
+