lab5.md

@@ -66,7 +66,7 @@ You can use `ros2 topic` to publish the text command.
 
 ## Decision Node
 
-This node should listen to the topic `goals_requests` and generate TSTs that are then send as a service call to your `tst_executor` like you did in  [Lab4](lab4). And you should query the database for destination, using the `tags`. You should look at the data that was inserted in the database, and you should extend the queries of `Lab4` to include this tag.
+This node should listen to the topic `goals_requests` and generate TSTs as a file (like you did in [Lab4](lab4)), then you should start the execution of the TST from your decision node. And you should query the database for destination, using the `tags`. You should look at the data that was inserted in the database, and you should extend the queries of `Lab4` to include this tag.
 
 ## Demonstration