Update readme

README.md

@@ -1,2 +1,55 @@
 # Grasp service
-Simple ros2 grasp service. The job of the service is to follow sequence of points, then to stop for given period of time and move back to home position.
+Simple ros2 grasp service. The job of the service is to follow sequence of points, then close the gripper and stop and then back to home positions and open gripper.
+
+
+# Configuration
+Configuration is straightforward and example is available in the open_manipulator_bringup package in the config folder. Simple configuration looks like this
+
+```yaml
+grasp_service:
+  ros__parameters:
+    joints_controller_name: joint_trajectory_controller
+    joints_names:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+
+    positions_to_target_list:
+      - first_pos
+      - second_pos
+
+    positions_to_target:
+      first_pos:
+        positions: [0.50, 0.0, 0.0, 0.0]
+        time_to_target: 2
+      second_pos:
+        positions: [-0.50, 0.0, 0.0, 0.0]
+        time_to_target: 4
+
+    positions_to_home_list:
+      - first_pos
+
+    positions_to_home:
+      first_pos:
+        positions: [0.50, 0.0, 0.0, 0.0]
+        time_to_target: 2
+
+    time_to_wait_on_target: 5
+
+    gripper_controller_name: gripper_action_controller
+    gripper_close: -0.01
+    gripper_open: 0.019
+```
+
+# Demo
+To launch demo just build (and source) repo and use following commands:
+
+```bash
+ros2 launch manipulator_simulation manipulator_simulation_bringup.launch.py
+```
+And to trigger grasp_service just call:
+
+```bash
+ros2 service call grasp_service std_srvs/srv/Empty
+```