From 848a00e080bbc852b49faf4ef8b06f0d214bf604 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 16 Jan 2019 10:29:12 +0100
Subject: [PATCH] Added a general READMe file. Added a markdown with
 information for the keyboard teleoperation.

---
 README.md               | 32 ++++++++++++++++++++++++++++++++
 docs/keyboard_teleop.md | 27 +++++++++++++++++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 README.md
 create mode 100644 docs/keyboard_teleop.md

diff --git a/README.md b/README.md
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--- /dev/null
+++ b/README.md
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+# Description
+
+This package contains some launch files to perform simple operations with the Ana robot. At the moment the included lauch files are:
+
+ * keyboard_teleop.launch: used to operate the robot using the keyboard.
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [teleop_twist_keyboard](http://wiki.ros.org/teleop_twist_keyboard)
+
+All dependencies can be installed using the [rosdep tool](http://wiki.ros.org/rosdep).
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch.git 
+```
+
+However, this package is normally used as part of a wider installation (i.e. a
+robot, an experiment or a demosntration) which will normally include a complete
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+# How to use it
+
+To teleoperate the robot with a keyboard go [here](./docs/keyboard_teleop.md);
diff --git a/docs/keyboard_teleop.md b/docs/keyboard_teleop.md
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+# Keyboard teleopration
+
+To teleoperate the robot with the keyboard, either the real or the simulated robots must be running.
+
+To use the real robot, execute:
+
+```
+roslaunch iri_ana_bribgup ana_test.launch
+```
+
+More information on how to use the real robot is available [here]().
+
+To use the simulated robot, execute:
+
+```
+roslaunch iri_ana_gazebo sim_sample.launch
+```
+
+More information on how to use the simulated robot is available [here]().
+
+To start teleoprating the robot with the keyboard, execute:
+
+```
+roslaunch iri_ana_launch keyboard_teleop.launch.
+```
+
+See the onscreen information to change the maximum translational and rotational speed and also to send motion commands to the robot. More information can be found in the [telop_twist_keyboard wiki page](http://wiki.ros.org/teleop_twist_keyboard).
-- 
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