updated readme

Author: macmacal

README.md

@@ -19,22 +19,40 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht
 
 ![hande_model](docs/hande_rviz.gif)
 
-*(Errata: The minus width range in the animation above is outdated)*
 
 ## Usage
 
-In your URDF (Xacro) file include the Hand-E definition. Provide a parent link (for instance `tool0`) as the parameter:
+In your URDF (Xacro) file include the Hand-E definition. Provide an unique name and the parent link (for instance `tool0`) as the parameters:
 
 ```xml
 <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
 <!-- ... -->
-<xacro:robotiq_hande_gripper parent="PARENT_LINK" prefix="" />
+<xacro:robotiq_hande_gripper name="robotiq_hande_gripper" parent="PARENT_LINK" prefix="" />
 ```
 
-An example usage can be find in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file.
+For estabilishg a connection with [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver) there is also need to provide more parameters:
+```xml
+<xacro:robotiq_hande_gripper
+    name="robotiq_hande_gripper"
+    prefix=""
+    parent="tool0"
+    grip_pos_min="0.0"
+    grip_pos_max="0.025"
+    tty="/tmp/ttyUR"
+    baudrate="115200"
+    parity="N"
+    data_bits="8"
+    stop_bit="1"
+    slave_id="9"
+    use_fake_hardware="false"
+  />
+```
 
 > [!NOTE]
-> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro parameter.
+> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the `prefix` macro parameter.
+
+### Examples
+**An example usage can be find** in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file. Furthermore, an integration with whole ROS 2 project example can be find in the [AGH-CEAI/aegis_ros](https://github.com/AGH-CEAI/aegis_ros) repository.
 
 
 ## Preview