From a1d5be0977249fc8a978f4add2827fd9cb1cb17e Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Fri, 28 Jul 2023 13:06:11 +0300
Subject: [PATCH] update README

---
 README.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/README.md b/README.md
index 9acf504..cb576cf 100644
--- a/README.md
+++ b/README.md
@@ -54,6 +54,11 @@ Load Problem file via ROS2 Service (TMP):
 ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: (define (problem box_problem)(:domain atomic_domain)(:objects ur_manipulator_gripper - arm workspace1 - zone box1 box2 box3 - part asm0 asm1 asm2 asm3 - assembly)(:init (part_of box1 asm1)(part_of box2 asm2)(part_of box3 asm3)(assembly_order asm0 asm1)(assembly_order asm1 asm2)(assembly_order asm2 asm3)(arm_available ur_manipulator_gripper)(assembly_at asm0 workspace1)(assembled asm0))(:goal (and (assembled asm3))))}'
 ```
 
+Start task planner 
+```
+ros2 run rbs_task_planner execute_plan 
+```
+
 ### Links
 * [bt_v3_cpp](https://www.behaviortree.dev)
 * [moveit2](https://moveit.picknik.ai/humble/index.html)
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