update readme

README.md

@@ -215,19 +215,19 @@ source ~/ros2_mara_ws/install/setup.bash
 ros2 launch mara_gazebo mara.launch.py
 ```
 
-**Optionally**, you can launch one of these launch files, which correspond to different grippers.
+**Optionally**, you can launch the MARA robot with gripper and/or a table using the `--urdf` flag to indicate the desired urdf to be spawned:
 
 ```sh
-ros2 launch mara_gazebo mara_gripper_140.launch.py
-ros2 launch mara_gazebo mara_gripper_85.launch.py
-ros2 launch mara_gazebo mara_gripper_hande.launch.py
+ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140
 ```
 
+*Available urdfs: `mara_robot_gripper_140`, `mara_robot_gripper_140_no_table`, `mara_robot_gripper_85` and `mara_robot_gripper_hande`*
+
 ## RViz
 ### Launching MARA's Simulation
 Complimentary information is available in our [documentation's simulation section](https://acutronicrobotics.com/docs/technology/h-ros/api/level1/visualization).
 
-Skip this step if you are working with the real MARA. 
+Skip this step if you are working with the real MARA.
 
 You can choose one of the available launch files. Let's launch MARA with the Robotiq's S140 Gripper for instance:
 
@@ -237,12 +237,16 @@ ros2 launch mara_gazebo mara_gripper_140.launch.py
 
 ### Visualizing MARA in RViz2
 
-3D model visualization via robot_description topic will be supported in the upcoming ROS2 Dashing debian packages ([Rviz2 Issue](https://github.com/ros2/rviz/issues/395)). It is possible to [compile  RViz from sources](https://github.com/ros2/rviz#building-rviz-in-a-separate-workspace) or load the 3D model via URDF file.
+3D model visualization via robot_description topic will be supported in the upcoming ROS2 Dashing debian packages ([Rviz2 Issue](https://github.com/ros2/rviz/issues/395)). We recommend to [compile  RViz from sources](https://github.com/ros2/rviz#building-rviz-in-a-separate-workspace) in the meantime.
 
 ```bash
+source ~/rviz2_ws/install/setup.bash
+source ~/ros2_mara_ws/install/setup.bash
 rviz2 -d `ros2 pkg prefix mara_description`/share/mara_description/rviz/visualization.rviz
 ```
 
+Alternatively, instead of using the `robot_description` topic, you can load the 3D model manually selecting the URDF file in RViz.
+
 ## MoveIt!
 Motion planning, manipulation, 3D perception, kinematics, control and navigation through brigdes.
 
@@ -268,16 +272,16 @@ ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140
 #### Terminal 2 (ROS)
 ```sh
 source ~/catkin_mara_ws/devel_isolated/setup.bash
-roslaunch mara_bringup mara_bringup_moveit_actions.launch &
+roslaunch mara_bringup mara_bringup_moveit_actions.launch
 ```
 
 **Optionally**, you can launch one of these launch files, according to the choice in the Terminal 1.
 
 ```sh
-roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 table:=false &
-roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 &
-roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=85 &
-roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=hande &
+roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 table:=false
+roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140
+roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=85
+roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=hande
 ```
 
 #### Terminal 3 (bridge)