From 00c69eea698473aaa431965a5b65c971784dfd65 Mon Sep 17 00:00:00 2001
From: tianb03 <keaishu@gmail.com>
Date: Tue, 24 Dec 2019 15:44:56 +0800
Subject: [PATCH] Update README.md

change to service and actionlib
---
 README.md | 58 +++++++++++++++++++++++++++++++++++++++++--------------
 1 file changed, 44 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index 95bd159..cce9519 100644
--- a/README.md
+++ b/README.md
@@ -23,18 +23,24 @@ cd ~/catkin_ws && catkin_make
 Make sure the power supply and usb connection are correct.
 
 ### Start ROSECHO node
-When first time use, remember to setup the wi-fi connection of ROSECHO.
+Launch the ROSECHO.
 
 ```
-roslaunch rosecho rosecho.launch ssid:=<wifi ssid> password:=<wifi password>
+roslaunch rosecho rosecho.launch
+```
+The default serial port is /dev/ttyUSB0, if serial open failed, pls check the port used by ROSECHO
+If it is /dev/ttyUSB1, you can change the launch file or launch use the command as follows
+```
+roslaunch rosecho rosecho.launch serial_port:=/dev/ttyUSB1
 ```
 
-To enable wifi config, publish 'wifi' to /rosecho/cfg topic. Later this function may change to service.
+To enable wifi config, call the wifi_cfg service.
 ```
-rostopic pub /rosecho/cfg std_msgs/String "data: 'wifi'"
+rosservice call /rosecho/wifi_cfg "ssid: 'tianbot' password: 'www.tianbot.com'"
 ```
+You can use Tab to auto-complete the command and then fill in the ssid and password.
 
-check the tts result
+check the automated sound recognition result
 ```
 rosrun rosecho asr_echo.py
 ```
@@ -44,10 +50,23 @@ check the answer
 rosrun rosecho answer_echo.py
 ```
 
-send tts to rosecho
+send tts to rosecho/tts/goal
 ```
-rostopic pub /rosecho/tts std_msgs/String "data: '你好机器人'"
+rostopic pub /rosecho/tts/goal rosecho/ttsActionGoal "header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: ''
+goal_id:
+  stamp:
+    secs: 0
+    nsecs: 0
+  id: ''
+goal:
+  text: '你好机器人'"
 ```
+You can use Tab to auto-complete the command and then fill in the goal: text: '你好机器人'
 
 ### Simple Demo
 Voice command test in turtlebot stage
@@ -55,7 +74,7 @@ Voice command test in turtlebot stage
 ```
 roslaunch rosecho rosecho.launch
 roslaunch turtlebot_stage turtlebot_in_stage.launch
-roslaunch rosecho demo.py
+rosrun rosecho demo.py
 ```
 
 
@@ -66,16 +85,27 @@ roslaunch rosecho demo.py
 The answer returned by iflyos
 - /rosecho/asr
 voice recognized result
-- /rosecho/status
-The ROSECHO operation status
 - /rosecho/wakeup_pos
 Position of the speaker when wakeup.
 
-### Subscribed
-- /rosecho/tts
+## Actions
+Actionlib also use topic to transfer data. 
+- /rosecho/tts/feedback
+- /rosecho/tts/result
+- /rosecho/tts/status
+The ROSECHO tts status
+
+- /rosecho/tts/goal
 The text to speech topic
-- /rosecho/cfg
-Config. Later will change to service.
+- /rosecho/tts/cancel
+Cancel goal
+
+## Services
+- /rosecho/disable
+- /rosecho/enable
+- /rosecho/sleep
+- /rosecho/wakeup
+- /rosecho/wifi_cfg
 
 
 ## License