Update file README.md

README.md

@@ -126,8 +126,75 @@ git pull
 <details>
 <summary>Usage</summary>
 
-The Play Gestures project is an [actionlib](http://wiki.ros.org/actionlib) based packageaction, i.e. there is an action server node to display the gestures on the robot and an action client node to start the gestures display.
-
+The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) based package.
+
+.
+
+.
+
+.
+
+Now that all the ROS modules required for the navigation are running, you will be able to launch all the Robot behavior actions.
+
+### look_at actions
+For types of look_at actions are possible:
+* `look_at_position`: To look at a specific position
+
+    You can launch the `look_at_position` action server in two ways:
+    * Using a roslaunch:
+        ```sh
+        roslaunch robot_behavior behavior_look_at_position_action_client.launch look_at_position:='[x, y, global_local_flag, 1]' continuous:=False timeout:=200
+        ```
+        with `x` and `y`, the (x, y) position in meters in the global frame if `global_local_flag`=0 or in the robot frame if `global_local_flag`=1. The `continuous` flag is used to keep the action server alive even if the robot has already reach the goal. The `timeout` parameter will kill the action server when the timeout time will be reached.
+    * Publishing directly in a topic:
+        ```sh
+        rostopic pub -1 /behavior_generator/look_at_position_action/goal spring_msgs/LookAtPositionActionGoal "header:
+        seq: 0
+        stamp:
+            secs: 0
+            nsecs: 0
+        frame_id: ''
+        goal_id:
+        stamp:
+            secs: 0
+            nsecs: 0
+        id: ''
+        goal:
+        look_at_position: [x, y, global_local_flag]
+        timeout: 200.0
+        continuous: false"
+        ```
+        the same parameters as set above should be set
+
+* `look_at_body`: To look at a specific body
+
+    You can launch the `look_at_body` action server in two ways:
+    * Using a roslaunch:
+        ```sh
+        roslaunch robot_behavior behavior_look_at_body_action_client.launch body_id:=b00001 continuous:=False timeout:=200
+        ```
+        with `b00001` the human body id, one of the body id you can see on `rviz` or that are published in the `/humans/bodies/tracked` topic. `continuous` flag is used to keep the action server alive even if the robot has already reach the goal. `timeout` parameter will kill the action server when the timeout time will be reached.
+    * Publishing directly in a topic:
+        ```sh
+        rostopic pub -1 /behavior_generator/look_at_body_action/goal spring_msgs/LookAtEntityActionGoal "header:
+        seq: 0
+        stamp:
+            secs: 0
+            nsecs: 0
+        frame_id: ''
+        goal_id:
+        stamp:
+            secs: 0
+            nsecs: 0
+        id: ''
+        goal:
+        id: 'b00001'
+        timeout: 200.0
+        continuous: false"
+        ```
+        the same parameters as set above should be set
+
+### go_to actions
 
 Below, we can see two resulting examples of the Behavior Generator running in real time in ARI robot through ROS: