(robot_smach_states) update outdated readme

robot_smach_states/README.md

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-[![Build Status](https://travis-ci.org/tue-robotics/robot_smach_states.svg?branch=master)](https://travis-ci.org/tue-robotics/robot_smach_states) [![codecov.io](https://codecov.io/github/tue-robotics/robot_smach_states/coverage.svg?branch=master)](https://codecov.io/github/tue-robotics/robot_smach_states?branch=master) [![Code Climate](https://codeclimate.com/github/tue-robotics/robot_smach_states/badges/gpa.svg)](https://codeclimate.com/github/tue-robotics/robot_smach_states)
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-robot_smach_states
-==================
+# robot_smach_states
 
 Robot_smach_states is a library of, indeed, smach states and state machine, built using the SMACH state machine library from ROS.
 
 There are states concerning navigation, perception, world modeling/reasoning, complex and simple arm movements, speech recognition, and some more.
 Each state is passed an instance of the Robot-class from the tue-robotics/robot_skills-package.
 The actions called via the robot_smach_states are implemented and executed via such a Robot-object. 
 
-![Architecture](https://raw.githubusercontent.com/tue-robotics/robot_smach_states/master/doc/layers.png)
+![Architecture](./doc/layers.png)