Update README.md to clarify MoveIt2 launch instructions and add serial_to_pcl command

Install_Documentation/README.md

@@ -57,7 +57,8 @@ Ensure you have the following installed on your system:
     ```bash
     ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=<IP_from_your_robot>
     ```
-7. **Afterwards we gonna launch the MoveIt2 configuration with the following command:**
+7. **Afterwards we gonna launch the MoveIt2 configuration in a new Terminal with the following command:**
+    Make sure that the ros is sourced in this Terminal aswell.
     ```bash
     ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10 launch_rviz:=true
     ```

README.md

@@ -120,7 +120,9 @@ Make sure to connect the **SCL** and **SDA** lines for I2C communication, as wel
    performance.
 
 ## How It Works
-
+   ```bash
+   ros2 run serial_to_pcl serial_to_pcl_node
+   ```
 ### Sensor Configuration
 
 The VL53L7CX sensors are configured to operate in an 8x8 grid mode, providing 64 distance measurements per sensor. Each sensor is assigned a unique I2C address to enable communication with the microcontroller. The configuration parameters, such as the I2C address and ranging frequency, can be adjusted in the Arduino sketch.