From: Aakash Rohra <aakash.r@barrett.com>
Date: Fri, 30 Aug 2019 15:33:47 +0000 (-0400)
Subject: Updated README and info message when moving WAM to commanded pose
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=b7808b34574a9296acf78e86f701fbdb4ac68957;p=barrett-ros-pkg.git

Updated README and info message when moving WAM to commanded pose
---

diff --git a/README.md b/README.md
index 31ba884..5d3fec0 100644
--- a/README.md
+++ b/README.md
@@ -22,32 +22,48 @@ roslaunch wam_node wam_node.launch
 ```
 	
 ### Example of running the services
-Move BHand fingers.
+**Move BHand Fingers:**
 ```
 rosservice call /bhand/finger_pos "radians:
-- 0.0
-- 0.0
-- 0.0" 
+ 0.0
+ 0.0
+ 0.0" 
 ```
 
-Move WAM joints
+**Move WAM Joints:**
 ```
 rosservice call /wam/joint_move "joints:
-- 0.0
-- 0.0
-- 0.0
-- 0.0
-- 0.0
-- 0.0
-- 0.0"
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0"
 ```
-
-Hold Joint Position
+**Move WAM to Tool Pose:**
+```
+rosservice call /wam/pose_move "pose:
+  position:
+    x: 0.048
+    y: 0.0
+    z: 0.618
+  orientation:
+    x: -0.0190
+    y: 0.9022
+    z: -0.2516
+    w: -0.3498"
+```
+**Move WAM Home:**
+```
+rosservice call /wam/go_home
+```
+**Hold Joint Positions:**
 ```
 rosservice call /wam/hold_joint_pos "hold: true"
 ```
 
-Unhold Joint Position
+**Unhold Joint Positions:**
 ```
 rosservice call /wam/hold_joint_pos "hold: false"
 ```
diff --git a/wam_robot/wam_node/src/wam_node.cpp b/wam_robot/wam_node/src/wam_node.cpp
index 2c8cc76..e5f772f 100644
--- a/wam_robot/wam_node/src/wam_node.cpp
+++ b/wam_robot/wam_node/src/wam_node.cpp
@@ -507,8 +507,8 @@ template<size_t DOF>
 
     pose_cmd = boost::make_tuple(cp_cmd, ortn_cmd);
 
-    wam.moveTo(pose_cmd, false); //(TODO:KM Update Libbarrett API for Pose Moves)
-    //ROS_INFO("Pose Commands for WAM not yet supported by API");
+    wam.moveTo(pose_cmd, false);
+    ROS_INFO("Moving Robot to Commanded Cartesian Pose");
     return true;
   }