From 72dc10bd161acf01e41b687d3d03bfe1c9ca42df Mon Sep 17 00:00:00 2001
From: Fernando Herrero <fherrero@iri.upc.edu>
Date: Thu, 7 Mar 2019 18:18:20 +0100
Subject: [PATCH] Update README.md

---
 README.md | 25 +++++++++++++++++++------
 1 file changed, 19 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 5f5b3eb..fbad1f4 100644
--- a/README.md
+++ b/README.md
@@ -111,17 +111,30 @@ A complete list of all ROS interfaces is shown [here<to_do>]().
 
 ## What to do next
 
-All the tutorial included in this section can be used both in simulation or with the real robot. 
+All the applications included in this section can be used both in simulation or with the real robot.
+Assuming you have launched the robot in simulation or real world:
 
- * To teleoprate the robot, follow the instructions in this [tutorial](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch/blob/master/README.md)
+First, to launch the simulation in a different world than an empty one:
+
+  ```roslaunch iri_helena_gazebo sim_sample.launch world_name:=willow```
+
+Then,
+
+ * You can teleoprate the robot, for example, using a rqt gui:
+
+   ```roslaunch iri_teleop_launch rqt_teleop.launch ns:=helena```
+ 
+ * Navigate
  
- * To create a map of the simulated environment, follow the instructions in this tutorial[<to_do>]
+    * while creating a map of the environment:
+
+       ```roslaunch iri_helena_rosnav nav_mapping.launch```
 
- * To navigate the robot in the new environment, follow the instructions in this tutorial[<to_do>]
+    * Or in an existing map:
 
-Some tutorials specific to the simulated robot:
+       ```roslaunch iri_helena_rosnav nav.launch```
 
- * To change the simulated environment edit the [<to_do>] file and <to_do>
+   You can teleoperate the robot around, or send navigation Goals using the "2D NaV goal" (shortcut key 'g').
 
 # Developers
 
-- 
GitLab