Update README.md

README.md

@@ -11,13 +11,13 @@ It is a wrapper of a [control_msgs/PointHeadAction](http://docs.ros.org/api/cont
  can be found on [iri_point_to](https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_point_to).
  It has the following API:
 
-- *bool point_to(double x, double y, double z, double max_vel)*:
+- ***bool point_to(double x, double y, double z, double max_vel):***
     To start the action.
     
-- *void cancel_point_to(void)*:
+- ***void cancel_point_to(void):***
     To cancel the action.
     
-- *bool is_point_to_finished(void)*:
+- ***bool is_point_to_finished(void):***
     To know if the action has finished.
     
 This Interface can return any of the typical module status.
@@ -30,16 +30,16 @@ It is a wrapper of a [iri_joints_msgs/pointHeadTrackerAction](https://gitlab.iri
  found on [iri_point_to](https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_point_to).
  It has the following API:
  
-- *bool enable_tracker(void)*:
+- **bool enable_tracker(void):**
     To start the action.
     
-- *void cancel_tracker(void)*:
+- **void cancel_tracker(void):**
     To cancel the action.
     
-- *bool is_tracker_finished(void)*:
+- **bool is_tracker_finished(void):**
     To know if the action has finished.  
     
-- *bool target_update(double x, double y, double z)*:
+- **bool target_update(double x, double y, double z):**
     To update the target information.
     
 This Interface can return any of the typical module status and target_lost status. 
@@ -49,13 +49,13 @@ This Interface can return any of the typical module status and target_lost statu
 It is a wrapper of a [control_msgs/FollowJointTrajectoryAction](http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html) client.
  It has the following API:
  
-- *bool move_to_angles(std::vector<std::string> joint_names, std::vector<double> angles, std::vector<double> vel)*:
+- **bool move_to_angles(std::vector\<std::string\> joint_names, std::vector<double> angles, std::vector<double> vel):**
     To start the action.
     
-- *void cancel_move_to_angles(void)*:
+- **void cancel_move_to_angles(void):**
     To cancel the action.
     
-- *bool is_move_to_angles_finished(void)*:
+- **bool is_move_to_angles_finished(void):**
     To know if the action has finished.
     
 This Interface can return any of the typical module status.
@@ -65,13 +65,13 @@ This Interface can return any of the typical module status.
 You can configure any Dynamic Reconfigure parameter of [iri_point_to](https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_point_to)
  with *set_parameter(parameter_name, parameter_value)* function. It also has the following explicits functions:
  
-- *bool set_tolerance(double tolerance)*:
+- **bool set_tolerance(double tolerance):**
     To change the inverse kinematics solver tolerance.
     
-- *bool set_base_frame(std::string &base_frame)*:
+- **bool set_base_frame(std::string &base_frame)**
     To change the kinematic chain base frame.
     
-- *bool set_urdf_param(std::string &urdf_param)*:
+- **bool set_urdf_param(std::string &urdf_param):**
     To change the ROS param name to get the urdf.
 
 # BT Interface
@@ -84,56 +84,56 @@ It provides a Simple Condition for each module status. The name of each Simple C
 
 ### Point_to
 
-- *sync_point_to*: Simple Action to start the action.
+- **sync_point_to**: Simple Action to start the action.
     - Input ports: *x (double)*, *y (double)*, *z (double)* and *max_vel (double)*
 
-- *async_point_to*: Iri Async Action to start the action.
+- **async_point_to:** Iri Async Action to start the action.
     - Input ports: *x (double)*, *y (double)*, *z (double)* and *max_vel (double)*
     - Bidirectional ports: *new_goal (bool)*
 
-- *cancel_point_to*: Simple Action to cancel the action.
+- **cancel_point_to:** Simple Action to cancel the action.
 
-- *is_point_to_finished*: Simple Condition to know if the action has finished.
+- **is_point_to_finished:** Simple Condition to know if the action has finished.
 
-- *async_is_point_to_finished*: Iri Async Action to know if the action has finished.
+- **async_is_point_to_finished:** Iri Async Action to know if the action has finished.
 
 ### PointToTracker
 
-- *enable_point_to_tracker*: Simple Action to start the action.
+- **enable_point_to_tracker:** Simple Action to start the action.
 
-- *point_to_tracker_update_target*: Simple Action to update the target.
+- **point_to_tracker_update_target:** Simple Action to update the target.
     - Input ports: *x (double)*, *y (double)* and *z (double)*
 
-- *cancel_point_to_tracker*: Simple Action to cancel the action.
+- **cancel_point_to_tracker:** Simple Action to cancel the action.
 
-- *is_point_to_tracker_finished*: Simple Condition to know if the action has finished.
+- **is_point_to_tracker_finished:** Simple Condition to know if the action has finished.
 
-- *async_is_point_to_tracker_finished*: Iri Async Action to know if the action has finished.
+- **async_is_point_to_tracker_finished:** Iri Async Action to know if the action has finished.
 
 ### MoveToAngles
 
-- *sync_move_to_angles*: Simple Action to start the action.
-    - Input ports: *joint_names (std::vector\<std::string\>)*, *angles ((std::vector\<std::string\>)* and *vel ((std::vector\<std::string\>)*
+- **sync_move_to_angles:** Simple Action to start the action.
+    - Input ports: *joint_names (std::vector\<std::string\>)*, *angles (std::vector\<std::string\>)* and *vel (std::vector\<std::string\>)*
 
-- *async_move_to_angles*: Iri Async Action to start the action.
-    - Input ports: *joint_names (std::vector\<std::string\>)*, *angles ((std::vector\<std::string\>)* and *vel ((std::vector\<std::string\>)*
+- **async_move_to_angles:** Iri Async Action to start the action.
+    - Input ports: *joint_names (std::vector\<std::string\>)*, *angles (std::vector\<std::string\>)* and *vel (std::vector\<std::string\>)*
     - Bidirectional ports:*new_goal (bool)*
 
-- *cancel_move_to_angles*: Simple Action to cancel the action.
+- **cancel_move_to_angles:** Simple Action to cancel the action.
 
-- *is_move_to_angles_finished*: Simple Condition to know if the action has finished.
+- **is_move_to_angles_finished:** Simple Condition to know if the action has finished.
 
-- *async_is_move_to_angles_finished*: Iri Async Action to know if the action has finished.
+- **async_is_move_to_angles_finished:** Iri Async Action to know if the action has finished.
 
 ### Configuration
 
-- *set_point_to_inv_kin_solver_tolerance*: Simple Action to set point_to inverse kinematic solver tolerance.
+- **set_point_to_inv_kin_solver_tolerance:** Simple Action to set point_to inverse kinematic solver tolerance.
     - Input ports: *tol (double)*
 
-- *set_point_to_kin_chain_base_frame*: Simple Action to set point_to kinematic chain base frame.
+- **set_point_to_kin_chain_base_frame:** Simple Action to set point_to kinematic chain base frame.
     - Input ports: *base_frame (std::string)*
 
-- *set_point_to_kin_chain_urdf_param*: Simple Action to set the ROS URDF parameter.
+- **set_point_to_kin_chain_urdf_param:** Simple Action to set the ROS URDF parameter.
     - Input ports: *urdf_param (std::string)*
 
 # ROS Interface
@@ -163,17 +163,38 @@ The usual ActionModule parameters named as *pt_\<ActionModule_parameter\>* and:
  
 - **point_frame** *(String; Default:)*:
     The point's frame.
+
+- **pt_enabled** *(Bool; Default: True)*:
+    Enable pointTo action execution.
     
 ##### PointToTracker
 
-The usual ActionModule parameters named as *tracker_\<ActionModule_parameter\>*.
+The usual ActionModule parameters named as *tracker_\<ActionModule_parameter\>* and:
+
+- **tracker_enabled** *(Bool; Default: True)*:
+    Enable pointTo tracker action execution.
 
 ##### MoveToAngles
 
 The usual ActionModule parameters named as *move_to_angles_\<ActionModule_parameter\>* and:
 
 - **move_to_angles_time_from_start** *(Integer; Default: 10; Max: 100; Min: 0)*:
-    Max time in seconds to finish the action.   
+    Max time in seconds to finish the action.
+
+- **move_to_angles_pos_tol** *(Double; Default: 0.02; Min: -1.0)*:
+    Path and goal position tolerance in rad or m.
+
+- **move_to_angles_vel_tol** *(Double; Default: 0.0; Min: -1.0)*:
+    Path and goal velocity tolerance in rad/s or m/s.
+
+- **move_to_angles_acc_tol** *(Double; Default: 0.0; Min: -1.0)*:
+    Path and goal acceleration tolerance in rad/s² or m/s².
+
+- **move_to_angles_time_tol** *(Double; Default: 0.1; Max: 1.0; Min: 0.0)*:
+    Path and goal time tolerance in percentaje.
+
+- **move_to_angles_enabled** *(Bool; Default: True)*:
+    Enable move to angles action execution
 
 ##### JointStates
 
@@ -192,8 +213,8 @@ This package has the following ROS dependencies:
 
 This dependencies can be installed with the following command:
 
-```
-sudo apt install ros-kinetic-control-msgs ros-kinetic-sensor-msgs ros-kinetic-actionlib ros-kinetic-roscpp ros-kinetic-dynamic-reconfigure
+```bash
+sudo apt install ros-$ROS_DISTRO-control-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-actionlib ros-$ROS_DISTRO-roscpp ros-$ROS_DISTRO-dynamic-reconfigure
 ```
 
 It also has the following external dependencies:
@@ -206,16 +227,49 @@ This node has the following ROS IRI dependencies:
   * [iri_behaviortree](https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_behaviortree)
   * [iri_joints_msgs](https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_joints_msgs)
 
+Follow the previous links for instructions on how to install the required ROS IRI dependencies.
+
 It also has the following IRI libraries dependencies:
 
   * [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils)
 
+Follow the previous links for instructions on how to install the required IRI dependencies.
+
 # Installation
 
-- Move to workspace: `roscd && cd ../src`
-- Clone the repository: `git clone https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_joints_module.git`
-- Compile:  `roscd && cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release`
+- Move to workspace: 
+
+```bash
+roscd && cd ../src
+```
+
+- Clone the repository:
+
+```bash
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_joints_module.git
+```
+
+- Compile:
+
+```bash
+roscd && cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
+```
 
 # How to use it
 
-This package provide two ROS node module client examples and the corresponding launch files for each example.
+This package provides a ROS node module client example for the module interface and the BehavoirTree interface. Both examples uses a default module configuration file located on config folder.
+
+With the module client example all module functionalities can be tested through the Dynamic Reconfigure. To run it execute the following command:
+
+```bash
+roslaunch iri_joints_module joints_client_example.launch
+```
+
+With the module BT client example you can run an example tree for each module interface. The tree examples are located on *src/xml* folder. To run it execute the following command:
+
+```bash
+roslaunch iri_joints_module joints_client_bt_example.launch 
+```
+
+
+