Update file README.md

README.md

@@ -201,7 +201,7 @@ 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 human 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. `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_group_action/goal spring_msgs/LookAtEntityActionGoal "header:
@@ -221,6 +221,34 @@ For types of look_at actions are possible:
         continuous: false"
         ```
         the same parameters as set above should be set
+    
+* `look_at_person`: To look at a specific person
+
+    You can launch the `look_at_person` action server in two ways:
+    * Using a roslaunch:
+        ```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.
+    * Publishing directly in a topic:
+        ```sh
+        rostopic pub -1 /behavior_generator/look_at_person_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: 'anonymous_person_hgfd'
+        timeout: 200.0
+        continuous: false"
+        ```
+        the same parameters as set above should be set
 
 ### go_to actions