updated README.md

.gitignore

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 /build/
 /install/
 /log/
-.idea
+/.idea/

.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/inspectionProfiles/Project_Default.xml

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+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="DuplicatedCode" enabled="true" level="WEAK WARNING" enabled_by_default="true">
+      <Languages>
+        <language minSize="73" name="Python" />
+      </Languages>
+    </inspection_tool>
+  </profile>
+</component>

.idea/inspectionProfiles/profiles_settings.xml

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+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.10" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/ws_universal_robotics.iml" filepath="$PROJECT_DIR$/.idea/ws_universal_robotics.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Description" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Driver" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/src/ros2_robotiq_gripper" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/src/serial" vcs="Git" />
+  </component>
+</project>

.idea/ws_universal_robotics.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="PLAIN" />
+    <option name="myDocStringFormat" value="Plain" />
+  </component>
+  <component name="TestRunnerService">
+    <option name="PROJECT_TEST_RUNNER" value="py.test" />
+  </component>
+</module>

README.md

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+## UR Robotiq
+
+*This project provides tools and integration to manage a Universal Robotics UR3e robot arm with the Robotiq 2F 140 gripper.* 
+
+## How to Download (with Submodules)
+
+To download this repository and all of its included submodules, follow these steps:
+
+1. **Prerequisites**
+   * Make sure you have Git installed on your system ([https://git-scm.com/downloads](https://git-scm.com/downloads)).
+
+2. **Gitea SSH Connection**
+   * This is only usable in the University Network (the VPN hasn't worked so far either)
+   * Follow this tutorial: https://www.techaddressed.com/tutorials/add-verify-ssh-keys-gitea/
+
+3. **Cloning the Repository**
+   * Open your terminal or command prompt.
+   * Navigate to the directory where you want to download the project.
+   * Run the following Git command:
+
+     ```bash
+     git clone --recurse-submodules git@git.cps.unileoben.ac.at:Niko/UR_Robotiq.git 
+     ```
+## How to Start the Docker Compose
+
+1. **Prerequisites**
+   * Ensure you have Docker and Docker Compose installed on your system (Instructions can be found on the official Docker website: [https://www.docker.com/](https://www.docker.com/))
+
+2. **Starting the Containers**
+   * Navigate to the project directory in your terminal:
+      ```bash
+      cd UR-Robotiq
+      ```
+   * Run the following command to start the Docker Compose:
+      ```bash 
+      docker-compose up -d 
+      ```