Update file README.md

README.md

@@ -137,7 +137,7 @@ The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) base
 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:
+Four 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:
@@ -146,6 +146,7 @@ For types of look_at actions are possible:
         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:
@@ -160,7 +161,7 @@ For types of look_at actions are possible:
             nsecs: 0
         id: ''
         goal:
-        look_at_position: [x, y, global_local_flag]
+        look_at_position: [x, y, global_local_flag, 1]
         timeout: 200.0
         continuous: false"
         ```
@@ -173,7 +174,8 @@ For types of look_at actions are possible:
         ```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.
+        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. 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_body_action/goal spring_msgs/LookAtEntityActionGoal "header:
@@ -201,7 +203,8 @@ For types of look_at actions are possible:
         ```sh
         roslaunch robot_behavior behavior_look_at_group_action_client.launch group_id:=grp00001 continuous:=False timeout:=200
         ```
-        with `grp00001` the group id, one of the group id you can see on `rviz` or that are published in the `/humans/groups/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.
+        with `grp00001` the group id, one of the group id you can see on `rviz` or that are published in the `/humans/groups/tracked` topic. 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_group_action/goal spring_msgs/LookAtEntityActionGoal "header:
@@ -229,7 +232,8 @@ For types of look_at actions are possible:
         ```sh
         roslaunch robot_behavior behavior_look_at_person_action_client.launch person_id:=anonymous_person_hgfd continuous:=False timeout:=200
         ```
-        with `anonymous_person_hgfd` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/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.
+        with `anonymous_person_hgfd` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/tracked` topic. 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_person_action/goal spring_msgs/LookAtEntityActionGoal "header:
@@ -251,6 +255,127 @@ For types of look_at actions are possible:
         the same parameters as set above should be set
 
 ### go_to actions
+Four types of `go_to` actions are possible:
+* `go_to_position`: To go to a specific position
+
+    You can launch the `go_to_position` action server in two ways:
+    * Using a roslaunch:
+        ```sh
+        roslaunch robot_behavior behavior_go_to_position_action_client.launch go_to_target_pose:='[x, y, , ang, global_local_flag, 1]' continuous:=False timeout:=200
+        ```
+        with `x`, `y` and `ang`, the (x, y, ang ) pose 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/go_to_position_action/goal spring_msgs/GoToPositionActionGoal "header:
+        seq: 0
+        stamp:
+            secs: 0
+            nsecs: 0
+        frame_id: ''
+        goal_id:
+        stamp:
+            secs: 0
+            nsecs: 0
+        id: ''
+        goal:
+        go_to_position: [x, y, ang, global_local_flag, 1]
+        timeout: 200.0
+        continuous: false"
+        ```
+        the same parameters as set above should be set
+
+* `go_to_body`: To go to a specific body
+
+    You can launch the `go_to_body` action server in two ways:
+    * Using a roslaunch:
+        ```sh
+        roslaunch robot_behavior behavior_go_to_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. 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/go_to_body_action/goal spring_msgs/GoToEntityActionGoal "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_group`: To go to a specific group
+
+    You can launch the `go_to_group` action server in two ways:
+    * Using a roslaunch:
+        ```sh
+        roslaunch robot_behavior behavior_go_to_group_action_client.launch group_id:=grp00001 continuous:=False timeout:=200
+        ```
+        with `grp00001` the group id, one of the group id you can see on `rviz` or that are published in the `/humans/groups/tracked` topic. 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/go_to_group_action/goal spring_msgs/GoTotEntityActionGoal "header:
+        seq: 0
+        stamp:
+            secs: 0
+            nsecs: 0
+        frame_id: ''
+        goal_id:
+        stamp:
+            secs: 0
+            nsecs: 0
+        id: ''
+        goal:
+        id: 'grp00001'
+        timeout: 200.0
+        continuous: false"
+        ```
+        the same parameters as set above should be set
+    
+* `go_to_person`: To go to a specific person
+
+    You can launch the `go_to_person` action server in two ways:
+    * Using a roslaunch:
+        ```sh
+        roslaunch robot_behavior behavior_go_to_person_action_client.launch person_id:=anonymous_person_hgfd continuous:=False timeout:=200
+        ```
+        with `anonymous_person_hgfd` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/tracked` topic. 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/go_to_person_action/goal spring_msgs/GoToEntityActionGoal "header:
+        seq: 0
+        stamp:
+            secs: 0
+            nsecs: 0
+        frame_id: ''
+        goal_id:
+        stamp:
+            secs: 0
+            nsecs: 0
+        id: ''
+        goal:
+        id: 'anonymous_person_hgfd'
+        timeout: 200.0
+        continuous: false"
+        ```
+        the same parameters as set above should be set
+
+__note__: One `look_at` action and one `go_to` action can be run at the time. If a `go_to` actions is launched while one is running, the running action will be canceled and the new one will be run.
+
+###
+
 
 Below, we can see two resulting examples of the Behavior Generator running in real time in ARI robot through ROS: