Documentation in Readme.md

Readme.md

@@ -18,3 +18,52 @@ $ git clone [email protected]:ros/cerevoice_tts.git
 ```$ roslaunch cerevoice_tts tts.launch ```
 
 You may have to modify the langua file information in the launch file.
+
+## Synthesizing text
+The text in the goal will be put in XML format, so feel free to use XML or SSML tags in your text.
+You do NOT have to provide the <xml> and <speak> tags. This is done automatically.
+
+If you leave the voice parameter unset, the default voice will be used.
+
+The default voice is the first voice specified in the launch file.
+### From the command line
+```$ rosrun actionlib axclient.py /TTS ```
+
+There enter the name of the voice and the text.
+
+### From within a ROS node
+See the [ROS actionlib tutorial](http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionClient) for how to use actionlib.
+
+Create the action client with
+```actionlib::SimpleActionClient<cerevoice_tts_msgs::TtsAction> action_client("TTS", true);```
+
+Set the voice and the text in the action goal with
+```
+cerevoice_tts_msgs::TtsGoal goal;
+goal.text = "Your text here.";
+goal.voice = "Heather";
+```
+
+## Launch file format
+Example:
+```
+<?xml version="1.0"?>
+<launch>
+  <param name="cerevoice_tts_node/startup_sentence" type="string" value="Text zu Sprache bereit." />
+  <rosparam param="voices" ns="cerevoice_tts_node" subst_value="true">
+  - path: $(env HOME)/cerevoice_sdk/voices/cerevoice_alex_3.0.6_22k.voice
+    license: $(env HOME)/cerevoice_sdk/voices/license.lic
+    abbrev: $(env HOME)/cerevoice_sdk/example_data/abbrev_german.txt
+  - path: $(env HOME)/cerevoice_sdk/voices/cerevoice_gudrun_3.0.6_22k.voice
+    license: $(env HOME)/cerevoice_sdk/voices/license.lic
+    abbrev: $(env HOME)/cerevoice_sdk/example_data/abbrev_german.txt
+  - path: $(env HOME)/cerevoice_sdk/voices/cerevoice_heather_3.0.8_22k.voice
+    license: $(env HOME)/cerevoice_sdk/voices/cereproc_license.lic
+    lexicon: $(env HOME)/cerevoice_sdk/example_data/additional.lex
+  </rosparam>
+  <node name="cerevoice_tts_node" pkg="cerevoice_tts" type="cerevoice_tts_node" respawn="false" output="screen" />
+</launch>
+```
+
+The path and the license of a voice are required. Lexicon and abbreviations file are optional.
+The optional string startup_sentence will be synthesized when the TTS node is ready.