Updated README.md

personalrobotics · Sep 6, 2023 · 9f1dc5c · 9f1dc5c
1 parent d790fcf
commit 9f1dc5c
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/ada_feeding/README.md b/ada_feeding/README.md
@@ -21,7 +21,7 @@ This code has been developed and tested with the Kinova JACO Gen2 Arm, on comput
 4. Launch the RealSense & Perception:
     1. Dummy nodes: `ros2 launch feeding_web_app_ros2_test feeding_web_app_dummy_nodes_launch.xml run_motion:=false run_web_bridge:=false`
     2. Real nodes: Follow the instructions in the [`ada_feeding_perception` README](https://github.com/personalrobotics/ada_feeding/blob/ros2-devel/ada_feeding_perception/README.md#usage)
-5. Run the action servers: `ros2 launch ada_feeding ada_feeding_launch.xml`
+5. Ensure the e-stop is plugged in. Run the action servers: `ros2 launch ada_feeding ada_feeding_launch.xml`
 6. Launch MoveIt2:
     1. Sim (RVIZ): `ros2 launch ada_moveit demo_feeding.launch.py sim:=mock`
     2. Real Robot: `ros2 launch ada_moveit demo_feeding.launch.py`
@@ -31,7 +31,9 @@ This code has been developed and tested with the Kinova JACO Gen2 Arm, on comput
         2. `ros2 action send_goal /AcquireFood ada_feeding_msgs/action/AcquireFood "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, detected_food: {roi: {x_offset: 0, y_offset: 0, height: 0, width: 0, do_rectify: false}, mask: {header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''}, format: '', data: []}, item_id: '', confidence: 0.0}}" --feedback`
         3. `ros2 action send_goal /MoveToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback`
         4. `ros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveTo "{}" --feedback`
-        5. `ros2 action send_goal /MoveToStowLocation ada_feeding_msgs/action/MoveTo "{}" --feedback`
+        5. `ros2 action send_goal /MoveFromMouthToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback`
+        6. `ros2 action send_goal /MoveFromMouthToAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback`
+        7. `ros2 action send_goal /MoveToStowLocation ada_feeding_msgs/action/MoveTo "{}" --feedback`
     2. Test the individual actions with the web app:
         1. Launch the web app ([instructions here](https://github.com/personalrobotics/feeding_web_interface/tree/main/feedingwebapp))
         2. Go through the web app, ensure the expected actions happen on the robot.