Added instructions

diff --git a/README.md b/README.md
index a39ab53..eeb2706 100644 (file)
--- a/README.md
+++ b/README.md
@@ -3,9 +3,51 @@
 
 ## Overview
 This is Barrett Technology's ROS repository wrapping Libbarrett's functionalities.  Libbarrett is a real-time controls library written in C++ that runs Barrett Technology's products, including the WAM Arm and the BH8-282 BarrettHand.
+- The wam_robot stack is designed to be run on a WAM PC-104 or external control PC.
+- The wam_common stack is designed as the interface to communicate with the 
+functionality exposed by the wam_node.
 
 ### Pre-Requisites
 This ROS repository requires:
 - An installed version of Libbarrett. To check out the latest version of Libbarrett: https://git.barrett.com/software/libbarrett
 - [ROS Indigo] on Ubuntu 14.04 (http://wiki.ros.org/indigo/Installation/Ubuntu).
 
+### Compile and execute package
+```
+rosmake wam_robot
+```
+
+```
+roslaunch wam_node wam_node.launch
+```
+       
+### Running the services
+Move BHand finger 2.
+```
+rosservice call /bhand/finger_pos "radians:
+- 0.0
+- 0.5
+- 0.0" 
+```
+
+Move WAM joints
+```
+rosservice call /wam/joint_move "joints:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0"
+```
+
+Hold Joint Position
+```
+rosservice call /wam/hold_joint_pos "hold: true"
+```
+
+Unhold Joint Position
+```
+rosservice call /wam/hold_joint_pos "hold: false"
+```