Merge pull request #743 from k-okada/fix-readme

jsk_fetch_robot : fixed version of update readme #735

jsk_fetch_robot/README.md

@@ -100,6 +100,14 @@ fetch-interface function APIs
 (send *ri* :angle-vector (send *fetch* :angle-vector) 5000)
   ```
 
+- send current head joint angles of robot model to real robot, this command only control joints of head limb. (DO NOT USE THIS COMMAND EXCEPT **HEAD**)
+
+   ```
+(send *fetch :head :neck-y :joint-angle 50)
+(send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+(send *ri* :wait-interpolation)
+   ```
+
 - get angle value of individual joint
   ```
 (send *fetch* :torso :waist-z :joint-angle)
@@ -162,10 +170,11 @@ fetch-interface function APIs
  (send *ri* :move-to (make-coords :pos #f(0 8150 0)) :frame-id "/map") ;; :retry 1 ;;[mm]
  ```
 
-- speak
+- use text-to-speech engine to speak text
 
  ```
   (send *ri* :speak "hello")
+  (send *ri* :speak (format nil "hello, ~A + ~A is ~A" 1 1 (+ 1 1)))
  ```
 
 FAQ