add how to use in readme

README.md

@@ -12,3 +12,20 @@ Several ros2 packages are list:
 | 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. | - |
 ------------------------------------------------------------------
+
+### 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`
+
+
+
+

harvest_arm_rm/launch/rm_arm_rviz.launch.py

@@ -68,3 +68,18 @@ def generate_launch_description():
         realman_rviz_node,
         rviz_node,
     ])
+
+
+
+
+'''
+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
+'''