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@@ -2,11 +2,22 @@
 
 This package should be placed into your workspace src/ folder.
 Alongside you must clone https://github.com/bjoernellens1/segwayrmp and https://github.com/bjoernellens1/segway_msgs to control the robot.
+Additional packages needed are:
+- https://github.com/bjoernellens1/rmp220_teleop
+- https://github.com/bjoernellens1/rmp220_middleware
+
 Go back to ws folder and colcon build --symlink-install && source install/setup.bash
 
 ### Launch files:
-#### Launch Gazebo
-ros2 launch cps_rmp220_support launch_sim.launch.py
 
-#### Launch Robot operator (Only neeed for Camera and additional devices for now)
-ros2 launch cps_rmp220_support launch_robot.launch.py
+#### Launch robot controller
+ros2 launch cps_rmp_220_support robot_controller.launch.py
+
+#### Launch robot state publisher
+ros2 launch cps_rmp_220_support rsp.launch.py
+
+#### Launch rplidar
+ros2 launch cps_rmp_220_support robot_lidar.launch.py
+
+#### Launch teleop - from other package
+ros2 launch rmp220_teleop robot_joystick.launch.py 
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