From ed0f332883ebe62f4bda133a260a6454b680dd69 Mon Sep 17 00:00:00 2001
From: LiuzhengSJ <zhengliu@sjtu.edu.cn>
Date: Mon, 29 Jun 2026 11:28:13 +0100
Subject: [PATCH] add how to use in readme

---
 README.md                                   | 19 ++++++++++++++++++-
 harvest_arm_rm/launch/rm_arm_rviz.launch.py | 17 ++++++++++++++++-
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 34e1c60..003697a 100644
--- a/README.md
+++ b/README.md
@@ -11,4 +11,21 @@ Several ros2 packages are list:
 | harvest_arm_rm | The driver package for the arm (take the realman-rm75 for an example). Receive joint command, and feedback arm state. | __IN__: /action/arm, the command including enable, target joint, and tool.  __Out__: /Observation/arm, the state of the robot, including measured arm joint positions, joint speed, timer counter, etc. |
 | harvest_arm_ctrl | The kinematic part of the arm, containing forward/inverse kinematics. Transformation from pose to joint. The security regulations/constraints are deployed. | - |
 | harvest_arm_retarget | Transformation among different frames. Convert target into robot arm frame. | - |
-------------------------------------------------------------------
\ No newline at end of file
+------------------------------------------------------------------
+
+### Build
+
+```
+mkdir -p ~/harvest_arm_ws/src  
+cd ~/harvest_arm_ws/src
+git clone https://git.nicecart.ai/ZhengLiu-cart/HarvestingRealman.git
+cd ~/harvest_arm_ws
+colcon build --symlink-install
+```
+
+### Run
+`ros2 launch harvest_arm_rm rm_arm_rviz.launch.py`
+
+
+
+
diff --git a/harvest_arm_rm/launch/rm_arm_rviz.launch.py b/harvest_arm_rm/launch/rm_arm_rviz.launch.py
index aeacbe5..6d13a51 100644
--- a/harvest_arm_rm/launch/rm_arm_rviz.launch.py
+++ b/harvest_arm_rm/launch/rm_arm_rviz.launch.py
@@ -67,4 +67,19 @@ def generate_launch_description():
         realman_arm_node,
         realman_rviz_node,
         rviz_node,
-    ])
\ No newline at end of file
+    ])
+
+
+
+
+'''
+ros2 launch harvest_arm_rm rm_arm_rviz.launch.py
+
+ros2 topic pub /action/arm sensor_msgs/msg/JointState "
+header:
+  stamp:
+    sec: 2
+    nanosec: 0
+position: [1.0, 82.6, -20.28, 32.15, -50.28, -17.28, -64.055, 20.62, 1.0]
+" --once
+'''
\ No newline at end of file