Add README.md

README.md

+# Description
+
+IRI module to control a chain of servos. It has three module interfaces: PointTo, PointToTracker and MoveToAngles.
+
+# Module Interface
+
+### PointTo
+
+It is a wrapper of a [control_msgs/PointHeadAction](http://docs.ros.org/api/control_msgs/html/action/PointHead.html) client.
+ An example of [control_msgs/PointHeadAction](http://docs.ros.org/api/control_msgs/html/action/PointHead.html) server
+ 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)*:
+    To start the action.
+    
+- *void cancel_point_to(void)*:
+    To cancel the action.
+    
+- *bool is_point_to_finished(void)*:
+    To know if the action has finished.
+    
+This Interface can return any of the typical module status.
+    
+### PointToTracker
+
+It is a wrapper of a [iri_joints_msgs/pointHeadTrackerAction](https://gitlab.iri.upc.edu/labrobotica/ros/devices/joints/iri_joints_msgs/-/blob/master/action/pointHeadTracker.action) client.
+ It updates the target information publisihng a [control_msgs/PointHeadActionGoal](http://docs.ros.org/melodic/api/control_msgs/html/action/PointHead.html).
+ An example of a [control_msgs/PointHeadActionGoal](http://docs.ros.org/melodic/api/control_msgs/html/action/PointHead.html) server 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 enable_tracker(void)*:
+    To start the action.
+    
+- *void cancel_tracker(void)*:
+    To cancel the action.
+    
+- *bool is_tracker_finished(void)*:
+    To know if the action has finished.  
+    
+- *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. 
+
+### MoveToAngles
+
+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)*:
+    To start the action.
+    
+- *void cancel_move_to_angles(void)*:
+    To cancel the action.
+    
+- *bool is_move_to_angles_finished(void)*:
+    To know if the action has finished.
+    
+This Interface can return any of the typical module status.
+  
+### Configuration interface
+
+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)*:
+    To change the inverse kinematics solver tolerance.
+    
+- *bool set_base_frame(std::string &base_frame)*:
+    To change the kinematic chain base frame.
+    
+- *bool set_urdf_param(std::string &urdf_param)*:
+    To change the ROS param name to get the urdf.
+
+# ROS Interface
+    
+### Subscribed topics
+
+- */joint_states* ([sensor_msgs/JointState](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/JointState.html)):
+    The servos' current postions. If no joint_states is received the module return a no_joint_states status.
+
+### Parameters
+
+- **frame_id** *(String; Default:joints_module)*:
+    The frame ID.
+
+- **rate_hz** *(Double;  Default: 1.0; Max: 100.0; Min: 1.0)*:
+    Joints module rate in Hz.
+    
+##### PointTo
+
+The usual ActionModule parameters and:
+
+- **pointing_frame** *(String; Default:)*:
+    The pointing frame.
+
+- **pointing_axis** *(Integer; Default: 2; Max: 2; Min: 0)*:
+    The pointing axis (X=0, Y=1, Z=2).    
+ 
+- **point_frame** *(String; Default:)*:
+    The point's frame.
+    
+##### PointToTracker
+
+The usual ActionModule parameters.
+
+##### MoveToAngles
+
+The usual ActionModule parameters and:
+
+- **move_to_angles_time_from_start** *(Integer; Default: 10; Max: 100; Min: 0)*:
+    Max time in seconds to finish the action.   
+
+##### JointStates
+
+The usual WatchDog parameters.
+
+# Dependencies
+
+This package has the following ROS dependencies:
+
+  * [control_msgs/PointHeadAction](http://docs.ros.org/api/control_msgs/html/action/PointHead.html)
+  * [sensor_msgs/JointState](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/JointState.html)
+  * [control_msgs/FollowJointTrajectoryAction](http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html)
+  * [actionlib](http://wiki.ros.org/actionlib)
+  * [roscpp](http://wiki.ros.org/roscpp)
+  * [dynamic_reconfigure](http://wiki.ros.org/dynamic_reconfigure)
+
+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
+```
+
+It also has the following external dependencies:
+  * [behaviortree_cpp_v3](https://github.com/BehaviorTree/BehaviorTree.CPP)
+
+This node has the following ROS IRI dependencies:
+
+  * [iri_base_algorithm](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_algorithm/tree/kinetic_migration)
+  * [iri_ros_tools](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_tools)
+  * [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)
+
+It also has the following IRI libraries dependencies:
+
+  * [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils)
+
+# 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`
+
+# How to use it
+
+This package provide two ROS node module client examples and the corresponding launch files for each example.